JP2016529473A - Detector for optically detecting at least one object - Google Patents

Abstract

A detector (110) for determining the position of at least one object (118) is disclosed. The detector (110) is at least one optical sensor (112) configured to detect light rays (150) traveling from the object (118) to the detector (110), and the pixels (154) The intensity of the pixel (154) of the optical sensor (112) illuminated by the light beam (150), the optical sensor (112) having at least one matrix (152) And an evaluation device (126) configured to determine a distribution and further configured to determine at least one longitudinal coordinate of the object (118) by using the intensity distribution.

Description

  The present invention is based on the previous European Patent Application No. 13171901.5, the entire contents of which are incorporated herein. The present invention relates to a detector, a detection system, and a method for determining the position of at least one object. The invention further relates to various uses of man-machine interfaces, entertainment devices, tracking systems, cameras, and detection devices for exchanging at least one information between a user and a machine. The apparatus, system, method and use according to the present invention are in particular photography, medical technology such as digital photography or video photography for everyday life, games, traffic technology, production technology, security technology, art, recording or technical purposes, for example. Can be employed in various fields or scientific fields. However, other uses are possible.

  Many optical sensors and photovoltaic devices are known in the prior art. Photovoltaic devices are commonly used to convert electromagnetic radiation, such as ultraviolet light, visible light, or infrared light, into electrical signals or energy, while optical detectors are typically used to acquire image information. And / or used to detect at least one optical parameter such as brightness.

  In the prior art, many optical sensors are known which can generally be based on the use of inorganic and / or organic sensor materials. Examples of such sensors are US Patent Application No. 2007 / 0176165A1, US Pat. No. 6,995,445B2, German Patent Application Publication No. 2501124A1, German Patent Application Publication No. 3225372A1. It is disclosed in the specification or in many other prior art documents. In particular, for reasons relating to cost and large area processing, the use of sensors comprising at least one organic sensor material has become widespread, for example as described in US Patent Application No. 2007 / 0176165A1. In particular, so-called dye solar cells are becoming increasingly important, as generally described in, for example, International Publication No. 2009 / 013282A1.

  Many detectors are known that detect at least one object based on such optical sensors. Such a detector can be implemented in various ways depending on the intended use. Examples of such detectors are imaging devices such as cameras and / or microscopes. For example, high resolution confocal microscopes are known that can be used to examine biological samples with high optical resolution, particularly in the fields of medical technology and biology. Another example of a detector that optically detects at least one object is a distance measuring device based on the propagation time method of a corresponding optical signal, such as a laser pulse. As another example of a detector that optically detects an object, there is a triangulation system that can similarly perform distance measurement.

  US Patent Application No. 2007 / 0080925A1 discloses a display device with low power consumption. Here, a photoactive layer that enables display of information by a display device in response to electric energy and generates electric energy in response to incident radiation is used. The display pixel of a single display device may be divided into a display pixel and a power generation pixel. The display pixels may display information, and the power generation pixels may generate electrical energy. The generated electrical energy may be used to provide power to drive the image.

  European Patent Application No. 1667246A1 discloses a sensor element capable of detecting two or more spectral bands of electromagnetic radiation at the same spatial position. This element consists of a stack of subelements each capable of detecting different spectral bands of electromagnetic radiation. Each subelement includes a non-silicon semiconductor, and the non-silicon semiconductor of each subelement is responsive and / or sensitized to respond to a different spectral band of electromagnetic radiation.

  In WO 2012/110924 A1, a detector for optically detecting at least one object is proposed, the contents of which are incorporated herein. The detector comprises at least one optical sensor. The optical sensor has at least one sensor area. The optical sensor is also designed to generate at least one sensor signal in response to illumination of the sensor area. The sensor signal depends on the shape of the illumination, in particular the beam cross-section of the illumination on the sensor area, assuming that the total power of illumination is the same. The detector further comprises at least one evaluation device. The evaluation device is designed to generate at least one shape information from the sensor signal, in particular at least one shape information about the illumination and / or the object.

  US Provisional Patent Application No. 61 / 739,173, filed December 19, 2012, US Provisional Patent Application No. 61 / 749,964, filed January 8, 2013, 2013 US Provisional Patent Application No. 61 / 867,169, filed August 19, and International Patent Application No. PCT / IB2013 / 061095, filed December 18, 2013, have at least one Disclosed are methods and detectors for determining the position of at least one object by using a lateral optical sensor and at least one optical sensor, the entire contents of all of which are incorporated herein. In particular, the use of a sensor stack is disclosed to clearly determine the longitudinal position of an object with high accuracy.

  In the above-described apparatus and detector, specifically in WO2012 / 110924A1, US provisional patent application 61 / 739,173, and US provisional patent application 61 / 749,964. Despite the advantages suggested by the disclosed detectors, several technical challenges still exist. As a result, a detector that detects the position of an object in space and that is highly reliable and can be manufactured at low cost is generally required.

  Accordingly, it is an object of the present invention to provide an apparatus and method that addresses the above-described technical challenges associated with known apparatus and methods. Specifically, the present invention provides an apparatus and method that can reliably determine the position of an object in space while reducing requirements in terms of technical resources and costs, preferably with little technical effort. Objective.

  This problem is solved by the present invention having the features of the independent claims. Advantageous variants of the invention that can be realized individually or in combination are presented in the dependent claims and / or in the following specification and detailed embodiments.

  As used below, the terms “having”, “comprising”, “comprising”, or any suitable grammatical variations thereof, are used non-exclusively. Thus, these terms may represent situations in which entities described in this background have no features other than those introduced by these terms and situations in which one or more other features exist. As an example, the expressions “A has B”, “A has B”, and “A has B” are situations where there is no element other than B in A (ie, A is the only and exclusive) And a situation where one or a plurality of other elements other than B exist in entity A, such as element C, elements C and D, or another element.

  In addition, the term “at least one”, “one or more”, or similar expressions indicating that one or more features or elements may be present are usually 1 at the time of introduction of each feature or element. Note that it is used only once. Hereinafter, in most cases, when referring to each feature or element, the expression “at least one” or “1” despite the fact that one or more of each feature or element may be present. “One or more” is not repeated.

  In addition, the terms “preferred”, “more preferable”, “in detail”, “more in detail”, “specifically”, “more specifically”, or similar terms are optional, as follows: In combination with other features, use it without limiting other possibilities. Accordingly, the features introduced by these terms are optional features and are not intended to limit the scope of the claims in any way. The present invention may be implemented using other features, as those skilled in the art will recognize. Similarly, features introduced by “in one embodiment of the invention” or similar expressions are limitations on another embodiment of the invention, limitations on the scope of the invention, and features so introduced and features of the invention. Optional features are intended without any limitation as to the possibility of combination with other optional or non-optional features.

  In a first aspect of the invention, a detector for determining the position of at least one object is disclosed. As used herein, the term position represents at least one piece of information regarding an object and / or position and / or orientation in a space of at least a portion of the object. Thus, the at least one information may suggest at least one distance between at least one point of the object and at least one detector. As will be outlined in more detail below, this distance may be a longitudinal coordinate, or it may contribute to the determination of the longitudinal coordinate of the point of the object. In addition or as an alternative, one or more other information relating to the position and / or orientation of the object and / or at least a portion of the object may be determined. As an example, at least one lateral coordinate of the object and / or at least a portion of the object may be determined. Thus, the position of the object may suggest at least one longitudinal coordinate of the object and / or at least a portion of the object. In addition or alternatively, the position of the object may indicate at least one lateral coordinate of the object and / or at least a portion of the object. Alternatively or alternatively, the position of the object may suggest at least one orientation information of the object that indicates the orientation of the object in space.

The detector
At least one optical sensor, configured to detect light traveling from an object to the detector, and having at least one matrix of pixels;
At least one evaluation device configured to determine an intensity distribution of pixels of the optical sensor illuminated by the light beam, and further using the intensity distribution to determine at least one longitudinal coordinate of the object A configured evaluation device;
Is provided.

  In this specification, an optical sensor generally represents a photosensitive device that detects light, such as irradiation and / or detection of a light spot generated by the light. As outlined in more detail below, the optical sensor determines at least one longitudinal coordinate of at least a portion of the object, such as the object and / or at least a portion of the object through which at least one ray travels to the detector. It may be configured to.

  In this specification, the term “longitudinal coordinate” generally refers to a coordinate in the coordinate system, and a change in the vertical coordinate of the object generally implies a change in the distance between the object and the detector. doing. Thus, as an example, the longitudinal coordinates are coordinates on the longitudinal axis of the coordinate system extending away from the detector and / or the longitudinal axis of the coordinate system that is parallel and / or identical to the optical axis of the detector, Also good. Thus, the longitudinal coordinates of the object may generally constitute what constitutes the distance between the detector and the object and / or contribute to the distance between the detector and the object.

  Similarly, as outlined in more detail below, the lateral coordinate may simply represent a coordinate in a plane perpendicular to the vertical axis of the coordinate system described above. As an example, a Cartesian coordinate system having a vertical axis extending away from the detector and two horizontal axes extending perpendicular to the vertical axis may be used.

Further, herein, a pixel generally represents a photosensitive element of an optical sensor, such as the smallest uniform unit of an optical sensor configured to generate an optical signal. As an example, each pixel, 1μm ² ~5000000μm ^2, preferably 100μm ² ~4000000μm ^2, preferably 1000μm ² ~1000000μm ^2, more preferably may have a photosensitive area of 2500μm ² ~50000μm ^2. Furthermore, other embodiments are possible. The expression “matrix” generally represents an arrangement of a plurality of pixels in a space, and may be a linear arrangement or a planar arrangement. Thus, the matrix may generally be such that it is preferably selected from the group consisting of a one-dimensional matrix and a two-dimensional matrix. As an example, the matrix may include 100 to 100 million pixels, preferably 1000 to 1000000 pixels, more preferably 10000 to 500000 pixels. Most preferably, the matrix is a rectangle with pixels arranged in rows and columns.

  Further, in the present invention, the term evaluation device generally refers to any device that is configured to perform the above operations, preferably using at least one data processing device, more preferably at least one processor. Accordingly, as an example, the at least one evaluation device may include at least one data processing device in which software codes including many computer commands are stored.

  The optical sensor may be configured to generate at least one signal indicating the irradiation intensity of each pixel. Thereby, as an example, the optical sensor may be configured to generate, for each pixel, at least one electronic signal that indicates the irradiation intensity of each pixel. Hereinafter, this signal is also referred to as pixel intensity and / or pixel intensity. This signal may be an analog and / or digital signal. Furthermore, the detector may comprise one or more signal processing devices, such as one or more filters and / or analog-to-digital converters that process and / or preprocess said at least one signal. .

  Further, in this specification, the intensity distribution generally represents a plurality of intensity values or intensity information of a plurality of local positions where the optical sensor has measured each intensity value, such as pixels of the optical sensor, or an entity thereof. Thereby, as an example, the intensity distribution may include a matrix of intensity values or intensity information, and the position of the intensity value or intensity information in the matrix represents a local position on the optical sensor. Specifically, the intensity distribution may include an intensity value as a function of the lateral position of each pixel in a plane perpendicular to the optical axis of the optical sensor. As an addition or alternative, the intensity distribution may include intensity values as a function of the pixel coordinates of the pixels of the matrix. Alternatively or alternatively, the intensity distribution may include a distribution of the number of pixels # having a particular intensity as a function of intensity.

  Furthermore, in this specification, the determination of at least one longitudinal coordinate of an object using an intensity distribution generally represents the fact that the intensity distribution is evaluated to determine the longitudinal position of the object. As an example, the evaluation device may be configured to determine the longitudinal coordinates of the object by using a predetermined relationship between the intensity distribution and the longitudinal coordinates. This predetermined relationship may be stored in a data storage of the evaluation device such as a lookup table. As an addition or alternative to this, an empirical evaluation function may be used as the predetermined relationship between the intensity distribution and the longitudinal coordinate.

  In general, the intensity distribution may be an approximation of the intensity distribution of irradiation with Gaussian rays. However, specifically, when using non-Gaussian rays, other intensity distributions are possible.

  In order to determine at least one longitudinal coordinate of the object, the evaluation device may simply use a predetermined relationship between the intensity distribution and the longitudinal coordinate and / or apply one or more evaluation algorithms. Is possible. Specifically, the evaluation device may be configured to determine at least one intensity distribution function approximating the intensity distribution. In this specification, the intensity distribution function is generally a two-dimensional function f (x) or a three-dimensional function f (x, y) approximating the actual intensity distribution of at least one optical sensor and / or part thereof. ) And other mathematical functions. Thus, the intensity distribution function may be a fitting function derived by applying one or more well-known fitting or approximation algorithms, such as regression analysis such as least square fitting. These fitting algorithms are generally known to those skilled in the art. As an example, one or more predetermined fitting functions may be provided that include one or more parameters selected to achieve the best fitting for the intensity distribution.

  As outlined above, the intensity distribution function may approximate the entire intensity distribution or a portion thereof. Thereby, as an example, an intensity distribution function such as a three-dimensional intensity distribution function f (x, y) may be determined by evaluating using one region of the matrix. As an addition or alternative, for example, a two-dimensional intensity distribution function f (x) along an axis or line through the matrix may be used. As an example, for example, the center of irradiation with light rays may be determined by determining at least one pixel of maximum irradiation, and a cross-sectional axis may be selected through the center of irradiation. As the intensity distribution function, a two-dimensional intensity distribution function may be derived as a function of coordinates along the cross-sectional axis passing through the center of irradiation. Other evaluation algorithms can also be realized.

  As outlined above, the evaluation device is configured to determine the longitudinal coordinates of the object by using a predetermined relationship between the longitudinal coordinates and the intensity distribution function. As an addition or alternative to this, in particular when fitting one or more intensity distribution functions to an actual intensity distribution, at least one parameter derived from the intensity distribution function may be determined, The vertical coordinate of the object is determined by using a predetermined relationship between at least one parameter such as one fitting parameter and the vertical coordinate of the object such as the distance between the object and the detector. May be.

  Another embodiment relates to the nature of the at least one intensity distribution function. Specifically, the intensity distribution function may be a function describing the shape of at least one light beam, which is also referred to as a beam shape below. Therefore, the intensity distribution function may generally be a beam shape function of a light beam or may include a beam shape function of a light beam. As used herein, a beam shape function generally represents a mathematical function that describes the spatial distribution of electric field and / or light intensity. As an example, the beam shape function may be a function that describes the intensity of the light beam in a plane perpendicular to the light beam propagation axis, and optionally the position along the propagation axis may be an additional coordinate. . Here, in general, any type of coordinate system may be used to describe the spatial distribution of the electric field and / or intensity. However, it is preferable to use a coordinate system including a position in a plane perpendicular to the optical axis of the detector.

  As described above, the intensity distribution function includes a two-dimensional or three-dimensional mathematical function that approximates the intensity information included in at least a part of the pixel of the optical sensor. Accordingly, as described in detail above, the at least one intensity distribution function is determined by using one or more fitting algorithms, preferably in at least one plane parallel to the at least one optical sensor. Also good. The two-dimensional or three-dimensional mathematical function may specifically be a function of at least one pixel coordinate of a matrix of pixels. This addition or alternative, as outlined above, one along one or more lines or axes in the plane of the at least one optical sensor, such as a cross-sectional line through the maximum intensity of light on the at least one optical sensor Alternatively, other coordinates such as a plurality of coordinates may be used. Therefore, specifically, the at least one intensity distribution function may be a cross-sectional intensity distribution function describing an intensity distribution passing through the center of irradiation.

  When one or more mathematical functions are used, the pixel position of the pixel of the matrix may be specifically defined by (x, y), where x and y are pixel coordinates. Alternatively or alternatively, cylindrical or spherical coordinates may be used, such as coordinates where r is the center point or distance from the center axis. Specifically, the latter may be useful for a general circularly symmetric intensity distribution when, for example, a Gaussian ray irradiates a surface perpendicular to the propagation axis of the ray (see, for example, Equation (2) below). The two-dimensional or three-dimensional mathematical function may specifically include one or more functions selected from the group consisting of f (x), f (y), and f (x, y). However, as outlined above, these coordinate systems may be used with one or more coordinates x 'and / or y', preferably in the plane of the matrix. Therefore, as outlined above, the coordinate x 'may be selected on an axis that intersects the center of irradiation of the matrix with light rays. Thereby, an intensity distribution function f (x ′) that describes or approximates the cross-sectional intensity distribution passing through the center of irradiation may be derived.

As outlined above, the intensity distribution function may generally be any function that normally occurs when the surface is illuminated by light rays such as Gaussian rays. Here, one or more fitting parameters may be used for fitting the function to the actual illumination or intensity distribution. As an example, in the case of a Gaussian function described in more detail below (see, for example, equation (2) below), width w ₀ and / or longitudinal coordinate z may be appropriate fitting parameters.

  The two-dimensional or three-dimensional mathematical function is specifically a group consisting of bell-shaped function, Gaussian distribution function, Bessel function, Hermitian-Gaussian function, Laguerre-Gaussian function, Lorentz distribution function, binomial distribution function, Poisson distribution function. Selected. Combinations of these intensity distribution functions and / or other intensity distribution functions are also possible.

  The intensity distribution described above may be determined in one plane, or may be determined in a plurality of planes. Thus, as outlined above, the detector may comprise one optical sensor, such as one optical sensor that defines only the sensor plane. Alternatively, the detector may comprise a plurality of optical sensors, such as a sensor stack including a plurality of optical sensors each defining a sensor plane. As a result, the detector may be configured to determine the intensity distribution in one plane, such as the sensor plane of a single optical sensor, or the intensity distribution in multiple planes, such as multiple parallel planes. May be configured to determine. As an example, the detector may be configured to determine at least one intensity distribution per plane, such as each sensor plane. If the detector is configured to determine the intensity distribution in a plurality of planes, these planes may specifically be perpendicular to the optical axis of the detector. Further, these planes may be determined by an optical sensor such as a sensor plane of an optical sensor such as a sensor plane of an optical sensor of a sensor stack. Thus, specifically using the sensor stack, the detector may be configured to determine a plurality of intensity distributions at different longitudinal positions along its optical axis.

  When using a plurality of optical sensors, specifically a stack of optical sensors, these optical sensors are preferably all or partly transparent, as outlined in more detail below. This allows light to pass through preferably one or more of the stack optical sensors or at least one of the stack optical sensors so that the intensity distribution can be measured for at least two sensor planes of the optical sensor. May be. However, other embodiments are possible.

  When the detector is configured to determine the intensity distribution for a plurality of planes perpendicular to the optical axis, the evaluation device may be specifically configured to evaluate a change in the intensity distribution, and the intensity It may be configured to compare the distribution with each other and / or a common criterion. As a result, the evaluation device may be configured to evaluate the change in intensity distribution as a function of longitudinal coordinates along the optical axis, as an example. As an example, the intensity distribution may change as light rays propagate along the optical axis. Specifically, the evaluation device may be configured to determine the longitudinal coordinates of the object by evaluating the change in intensity distribution as a function of the longitudinal coordinates along the optical axis. Thus, as an example, in the case of a Gaussian ray, the width of the ray changes with propagation as will be apparent to those skilled in the art and as shown in Equation (3) below. By evaluating the change in the intensity distribution, the width of the ray and the change in the ray width are determined, so that the focus of the ray and thus the longitudinal coordinate of the object through which the ray propagates to the detector can be determined. It may be possible.

  When determining the intensity distribution in a plurality of planes, the intensity distribution function may be derived for one, two or more or all of these planes. For possible embodiments for deriving the intensity distribution function, specifically the beam shape function, reference may be made to the above embodiments. Specifically, the evaluation device may be configured to determine a plurality of intensity distribution functions, such as one or two or more intensity distribution functions per intensity distribution, each intensity distribution function being one of these planes. Is an approximation of the intensity distribution in one of the above. The evaluation device may be further configured to derive a longitudinal coordinate of the object from a plurality of intensity distribution functions. Again, a predetermined relationship between the intensity distribution function and the longitudinal coordinates of the object, such as a simple look-up table, may be used. In addition or as an alternative, at least one parameter of the intensity distribution function for the position and / or longitudinal position of the optical sensor along the optical axis, such as a change in beam waist or beam diameter as the light ray travels along the optical axis. Dependency may be determined. Among these, the focal position of the light beam may be derived by using the following equation (3), etc., and thereby information on the vertical coordinate of the object may be obtained. .

  As described above, when determining a plurality of intensity distribution functions, the intensity distribution function may specifically be a beam shape function. Specifically, the same type of beam shape function may be used and / or fitted to each intensity distribution. The fitting parameter or parameter may include useful information regarding the position of the object.

  As outlined above, the evaluation device may be specifically configured to evaluate the intensity distribution function. Specifically, the evaluation device may be configured to derive at least one beam parameter from each intensity distribution function. Thereby, as an example, the center of intensity may be derived. As an addition or alternative, a beam width, beam waist, or beam diameter, such as a Gaussian beam waist according to the following equation (3), may be derived. As described above and in more detail below, longitudinal coordinates may be determined using a beam waist. The evaluation device may be specifically configured to determine the longitudinal coordinates of the object by evaluating a change in at least one beam parameter as a function of the longitudinal coordinates along the optical axis. Also, as outlined in more detail below, the lateral position, such as at least one lateral coordinate, may be determined by evaluating at least one parameter derived by evaluating an intensity distribution function, specifically a beam shape function. It may be derived. Thereby, as an example, the center of illumination described above may provide useful information regarding the lateral position of the object, such as by providing at least one lateral coordinate. It may also be possible to determine the lateral position of the object, such as one or more lateral coordinates, by tracking the position of the center of illumination of the stack of optical sensors and performing beam tracking. .

  In general, the at least one beam parameter derivable from a plurality of beam shape functions in a plurality of planes perpendicular to the optical axis of the detector may be an arbitrary beam parameter or a combination of beam parameters. There may be. Specifically, the at least one beam parameter may be selected from the group consisting of a beam diameter, a beam waist, and a Gaussian beam parameter. Alternatively or alternatively, the center of illumination may be determined as outlined above.

  As outlined above, the evaluation device may be specifically configured to determine the longitudinal coordinates of the object by using a predetermined relationship between the beam parameters and the longitudinal coordinates. This predetermined relationship may be an analytical relationship such as a known propagation characteristic of a Gaussian ray, as given by the following formula (2) or (3), for example, and includes such a relationship: You may go out. In addition to or as an alternative, other types of predetermined relationships may be used, such as empirical or semi-empirical relationships. Additionally or alternatively, the predetermined relationship may be provided as a look-up table that indicates at least one longitudinal coordinate as a function of at least one parameter. Various types of evaluation routines are possible and may be easily implemented in the evaluation device.

  The detector may be configured to record an image stack, ie, a stack of intensity values of a pixel matrix in the plurality of planes, by evaluating the intensity distribution in the plurality of planes. The image stack may be recorded as a three-dimensional matrix of pixels. Various types of image evaluation can be realized by evaluating intensity distribution functions in a plurality of planes, such as derivation of intensity distribution functions in a plurality of planes. Specifically, a three-dimensional image of the light irradiation field may be derived and / or recorded. Thus, by using a pixelated optical sensor, such as a pixelated transparent or translucent organic optical sensor, as specifically outlined in more detail below, the detector can be moved up to its lens or lens system. It may be configured to record photographic stacks at different longitudinal positions along the optical axis, such as different distances. When recording a plurality of images using a stack of optical sensors, recording may be performed sequentially or simultaneously.

  As outlined above, 3D information may be obtained by analyzing a photo stack. In order to analyze the photo stack, the detector, specifically the evaluation device, is configured to model the illumination of the pixels, such as modeling the intensity distribution in the photo of the photo stack, by fitting the beam shape function May be. The beam shape function may be compared in the photos of the photo stack to obtain information about the light rays and optionally information about the vertical position of the object and optionally the horizontal position of the object. As an example, and as outlined above, beam spreading or focusing may be determined by evaluation of beam width or beam waist as a function of longitudinal coordinates along the optical axis, such as a function of distance from the lens. It may be. Also, as generally understood by those skilled in the art of optics, the focusing or diffusing characteristics of elements such as lenses of detector transmission devices may be taken into account. Thus, as an example, when the lens characteristics are known and the spread or convergence of the light beam is determined by evaluating the intensity distribution function, specifically the beam shape function, the light beam propagates to the detector. The distance of the object may be determined by calculation or use of all known predetermined relationships.

  In contrast to the evaluation of the intensity distribution in a plurality of planes, the evaluation of the intensity distribution in one plane can be performed in various ways. Therefore, as outlined above, various types of intensity distribution functions may be used. As an example, a rotationally symmetric intensity distribution function that is rotationally symmetric with respect to the center of irradiation on a plane may be used. As an addition or alternative to this, one or more intensity distribution functions having other types of symmetry, such as lower symmetry, may be used. In addition, one or more point-symmetric and / or mirror-symmetric intensity distribution functions may be used. Furthermore, a combination of two or more intensity distribution functions, such as a combination of one or more Gaussian functions and one or more polynomials, may be used. Furthermore, a derivative of a rotationally symmetric function and / or a product of a plurality of functions may be used. Furthermore, at least one intensity distribution function that is a linear combination of two or more functions, such as a linear combination of two or more Gauss functions having different exponents, may be used. Other types of intensity distribution functions may be used. Here, the strength can be evaluated by various methods. An efficient method of analyzing the intensity distribution, also referred to as an image, may be an analysis of edges in the intensity distribution. Analysis of edges in the intensity distribution may be performed in addition to or as an alternative to beam shape assessment. Furthermore, edge analysis may be preferred because it generally allows estimation of the longitudinal coordinates of an object with little or no structure or contrast. Thus, the detector and the evaluation device may generally be configured to determine edges in a plurality of intensity distributions in a plurality of planes, also referred to as at least one intensity distribution or image stack. It may be possible to derive the vertical position information of an object by edge changes and / or edge comparisons in the images of the image stack.

  The evaluation device may be further configured to determine, for each pixel, whether the pixel is an illuminated pixel by comparing the signal to at least one threshold. The at least one threshold value may be an individual threshold value for each pixel, or may be a uniform threshold value for the entire matrix. In the case where a plurality of optical sensors are provided, at least one threshold may be given to each optical sensor and / or a group including at least two of the optical sensors. The threshold values may be the same or different. Thus, a separate threshold value may be given for each optical sensor.

  As outlined in more detail below, the threshold may be predetermined and / or fixed. Alternatively, the at least one threshold value may be variable. For this reason, the at least one threshold value may be determined individually for each measurement or measurement group. Accordingly, at least one algorithm configured to determine the threshold may be provided.

  The evaluation device may generally be configured to determine at least one pixel of the maximum illumination of the pixels by comparing the signals of the pixels. Thus, the detector may generally be configured to determine one or more pixels and / or areas or regions of the matrix having the maximum intensity of illumination by the light beam. As an example, the center of irradiation with light rays may be determined as described above.

Information regarding maximum exposure and / or at least one maximum exposure area or region can be used in various ways. Thus, as outlined above, the at least one threshold described above may be a variable threshold. As an example, the evaluation device may be configured to select the at least one threshold described above as a ratio of the signal of at least one pixel of maximum irradiation. Therefore, the evaluation apparatus may be configured to select the threshold value by multiplying the signal of at least one pixel of maximum irradiation by the coefficient 1 / e ² . As outlined in more detail below, this option is particularly preferred when the at least one ray is considered a Gaussian propagation characteristic. This is because, generally, the threshold of 1 / e ² determines the boundary of the light spot of the beam radius or the beam waist w generated on the optical sensor by the Gaussian ray.

  In another embodiment of the present invention, which may be combined with one or more of the above-described embodiments and / or one or more of the other options disclosed in more detail below, in determining the intensity distribution May include determining the number N of pixels of the optical sensor illuminated by the light beam, and determining the at least one longitudinal coordinate of the object includes using the number N of pixels illuminated by the light beam. .

  As used herein, the term “determining the number N of pixels of an optical sensor illuminated by a light beam” generally refers to at least one numerical value (herein “ N ”). Here, N may generally represent a single numerical value such as a single integer value. As an example, this embodiment may be implemented simply by subdividing pixels into irradiated and non-irradiated pixels, where N is simply expressed as the number of pixels in the subset of irradiated pixels. It may be.

  In addition or as an alternative, the pixels are subdivided into more than two sets or subsets, such as a subset depending on one or more of the respective position, illumination, or intensity. Also good. Thereby, as an example, the evaluation apparatus may be configured to determine the intensity distribution of at least a part of the pixels irradiated with the light beam. In other words, the evaluation device may be configured to subdivide the entire pixel or a part of the irradiated pixel into a plurality of sets corresponding to each irradiation and / or position. Thereby, as an example, the evaluation device subdivides the whole pixel or a part thereof into a subset based on, for example, a photo analysis algorithm such as edge or shape detection or separation into regions with similar contrast, saturation, hue, etc. You may be comprised so that it may become. Other algorithms that subdivide the entire pixel into two or more subsets are possible.

  The evaluation device may be configured to determine the vertical coordinate of the object by using a predetermined relationship between the number N of pixels irradiated by the light beam and the vertical coordinate of the object. Accordingly, the diameter of the light beam generally varies with propagation, such as the longitudinal coordinate of propagation, depending on the propagation characteristics generally known to those skilled in the art. The relationship between the number of illuminated pixels and the longitudinal coordinates of the object may be an empirically determined relationship and / or an analytically determined relationship. Thereby, as an example, the relationship between the number of irradiated pixels and the vertical coordinate may be determined by using a calibration process. As an addition or alternative, as described above, the predetermined relationship may be based on the assumption that the ray is a Gaussian ray. The light beam may be a monochromatic light beam having exactly one wavelength λ, or may be a light beam having a plurality of wavelengths or wavelength spectra, for example, the center wavelength of the spectrum and / or the characteristic peak of the spectrum. May be selected as the wavelength λ of the light beam. When a plurality of optical sensors are used, a specific predetermined relationship between the number of irradiation pixels of each optical sensor and the vertical coordinate may be used. Thereby, as an example, for each optical sensor, a predetermined relationship between the number of irradiation pixels and the vertical coordinate may be given. As outlined in more detail below, the optical sensors may be stacked. Further, each optical sensor may have different characteristics, such as different shapes, such as a matrix of pixels and / or different shapes of pixels. Furthermore, each optical sensor may have different sensitivities such as different spectral sensitivities. Different characteristics of these optical sensors may be taken into account by giving a specific predetermined relationship between the number of illuminated pixels of each of the optical sensors.

ここで、ｚは、縦方向座標であり、
ｗ_０は、光線が空間中を伝搬する際の最小ビーム半径であり、
ｚ_０は、光線のレイリー長であって、ｚ_０＝π・ｗ_０ ^２／λであるとともに、λは光線の波長である。 As an example of the analytically determined relationship, the predetermined relationship that can be derived by assuming a Gaussian characteristic of the light beam may be as follows.

Where z is the vertical coordinate,
w ₀ is the minimum beam radius at which a ray propagates through space,
z ₀ is the Rayleigh length of the ray, z ₀ = π · w ₀ ² / λ, and λ is the wavelength of the ray.

  If N is an integer, Equation (1) may suggest an integer configuration, such as by using an additional function such as a function that searches for the nearest integer less than or above its right-hand side term. Other integer constituent functions can also be realized.

This relationship may generally be derived from a general equation for the intensity I of a Gaussian ray traveling along the z-axis of the coordinate system, where r is the coordinate perpendicular to the z-axis and E is the electric field of the ray. It is.

The beam radius w of the lateral profile of a Gaussian ray that generally represents a Gaussian curve, for a particular z value, the amplitude E drops to a value of 1 / e (approximately 36%) and the intensity I to 1 / e ^2. Defined as a specific distance from the lowered z-axis. The minimum beam radius that occurs at coordinate z = 0 in the Gaussian equation shown above (which can also occur at other z values, such as when performing z coordinate transformation) is defined by w ₀ . Depending on the z coordinate, the beam radius generally follows the following equation when a ray propagates along the z axis.

ただし、上述の通り、ｚ_０＝π・ｗ_０ ^２／λである。このように、ＮまたはＮ_ｉは、それぞれＩ≧Ｉ_０／ｅ^２の強度で照射された円内の画素の数であることから、一例として、画素の単純な計数および／またはヒストグラム解析等の他の方法で決定されるようになっていてもよい。言い換えると、ｚ座標と照射画素の数ＮまたはＮ_ｉそれぞれとの間の明確に定められた関係を用いることにより、物体への組み込みおよび／または取り付けがなされた少なくとも１つのビーコンデバイスの少なくとも１つの縦方向座標等、物体および／または該物体の少なくとも１つの点の縦方向座標ｚを決定するようにしてもよい。 A state in which the number N of irradiation pixels is proportional to the irradiation area A of the optical sensor;
N to A (4)
Alternatively, when using a plurality of optical sensors i = 1,..., N, the number N _i of irradiation pixels of each optical sensor is proportional to the irradiation area A _i of each optical sensor,
N _{i to} A _i (4 ′)
Since the general area of a circle of radius w is as follows:
A = π · w ² (5)
The following relationship may be derived between the number of irradiation pixels and the z coordinate.

However, as described above, z ₀ = π · w ₀ ² / λ. Thus, since N or N _i is the number of pixels in a circle irradiated with an intensity of I ≧ I ₀ / e ² , as an example, simple counting of pixels and / or histogram analysis, etc. It may be determined by other methods. In other words, by using a well-defined relationship between the z-coordinate and the number of illuminated pixels N or N _i, respectively, at least one of the at least one beacon device that has been incorporated and / or attached to the object. The longitudinal coordinate z of the object and / or at least one point of the object, such as the longitudinal coordinate, may be determined.

  Also, as outlined above, the above function as shown in equation (2) or equation (3) is one or more planes, specifically one or more planes perpendicular to the optical axis of the detector. May be used as a beam shape function or an intensity distribution function approximating the intensity distribution at.

  As outlined above, the present invention generally determines the use of the above-described fitting process to fit one or more beam shape functions to the intensity distribution and / or the number N of pixels of the optical sensor illuminated by the light beam. Based on determining at least one longitudinal coordinate of the object by use of an intensity distribution that can be approximated by one or more intensity distribution functions. In the equations shown above, such as equation (1), equation (2), or equation (3), it is assumed that the ray is focused at position z = 0. However, it should be noted that the coordinate transformation of the z coordinate can be performed by adding and / or subtracting a specific value. Thereby, by way of example, the position of the focus is usually determined by the distance of the object from the detector and / or other characteristics of the light beam. Thus, by determining the focus and / or position of the focus, the position of the object, such as by using empirical and / or analytical relationships between the position of the focus and the longitudinal coordinates of the object and / or beacon device, etc. Specifically, the vertical coordinate of the object may be determined. Furthermore, the imaging characteristics of at least one optional transmission device such as the at least one optional lens may be taken into account. Thereby, as an example, when the beam characteristics of the light beam guided from the object to the detector, such as when the emission characteristics of the irradiation device included in the beacon device are known, propagation from the object to the transmission device, By using a suitable Gaussian transmission matrix representing the imaging of the transmission device and the beam propagation from the transmission device to the at least one optical sensor, the correlation between the beam waist and the position of the object and / or beacon device is analyzed. It may be determined easily. In addition or as an alternative, the correlation may be determined empirically by appropriate calibration measurements.

  As outlined above, the matrix of pixels may preferably be a two-dimensional matrix. However, other embodiments such as a one-dimensional matrix can be realized. As outlined above, the pixel matrix is more preferably a rectangular matrix.

  The detector may include exactly one optical sensor, or may include a plurality of optical sensors. When a plurality of optical sensors are provided, these optical sensors can be arranged in various ways. Thereby, as an example, the light beam may be split into two or more beams, each beam being guided to one or more of the optical sensors. As an addition or alternative, two or more of the optical sensors may be stacked along an axis, such as the optical axis of the detector, preferably with each sensitive area oriented in the same direction. Thereby, as an example, the detector may include a plurality of optical sensors, and the optical sensors are stacked along the optical axis of the detector.

As an example, the detector may include n (n> 1) optical sensors. Here, n is preferably a positive integer. As outlined above, the intensity distribution may be evaluated at the sensor plane, such as by deriving an intensity distribution function for each of the sensor planes of the n optical sensors. In addition or as an alternative, the evaluation device may generally be configured to determine the number N _i of pixels illuminated by the light beam for each optical sensor, where i∈ {1, n} 1 shows an optical sensor. As used herein, “each” refers to the fact that there may be optical sensors where the number of illuminated pixels is not determined by non-irradiation of light and / or use for other purposes. Represents the fact that the number of illuminated pixels is determined for each optical sensor portion of the plurality of optical sensors.

Evaluation unit, for each optical sensor, by comparison with at least one adjacent optical sensors the number N _i of pixels illuminated by light, and is configured to eliminate the ambiguity of the longitudinal coordinates of the object Also good.

  The sensor signal of the optical sensor can be used in various ways. Thus, as an example, unknown information regarding the power of the light beam may be eliminated by using the redundancy of the sensor signal. For this reason, the sensor signal may be normalized by setting the strongest sensor signal to the value 1 or 100 and providing other sensor signals as part of the strongest sensor signal. Thus, in general, the evaluation device may be configured to normalize the sensor signal of the optical sensor with respect to the power of the light beam. However, as an addition or alternative to this, as described above, normalization is performed in each optical sensor in order to determine an appropriate threshold value and determine pixels irradiated with light rays and pixels not irradiated with light rays. You may do it.

  The at least one optical sensor may generally be transparent or opaque. Thereby, as an example, the optical sensor may be transparent and configured to transmit at least 10%, preferably at least 20%, more preferably at least 50% of the power of the light beam. When a plurality of optical sensors such as a stack are provided, at least one of these optical sensors is preferably transparent.

  When multiple optical sensors that can be arranged in a stack and / or in different configurations are provided, these optical sensors may have the same spectral sensitivity or different spectral sensitivities. Good. Thereby, as an example, at least two of the optical sensors may have different spectral sensitivities. As used herein, the term spectral sensitivity generally refers to the fact that the sensor signal of an optical sensor can change with the wavelength of the light when the power of the light is the same. Thus, in general, at least two of the optical sensors may have different spectral characteristics. This embodiment may generally be realized by using different types of absorbing materials for the optical sensor, such as different types of dyes or other absorbing materials. In addition or as an alternative, the use of one or more wavelength selective elements such as one or more filters (eg color filters) in front of the optical sensor and / or the use of one or more prisms and / or 1 Different spectral characteristics of the optical sensor may be generated by other means implemented in the optical sensor and / or detector, such as the use of one or more dichroic mirrors. Therefore, when a plurality of optical sensors are provided, at least one of the optical sensors has a wavelength selection element such as a color filter that generates a different spectral characteristic of the optical sensor by having a specific transmission or reflection characteristic. You may do it. Further, as outlined in more detail below, when multiple optical sensors are used, these optical sensors may all be organic optical sensors or all inorganic optical sensors. , All may be hybrid organic-inorganic optical sensors, or any combination of at least two optical sensors selected from the group consisting of organic optical sensors, inorganic optical sensors, and hybrid organic-inorganic optical sensors, Also good.

  When multiple optical sensors are used and at least two of these optical sensors have different spectral sensitivities, the evaluator generally determines the color of the light by comparing the sensor signals of optical sensors with different spectral sensitivities. It may be configured to. As used herein, the expression “determine color” generally refers to the step of generating at least one spectral information about a ray. The at least one spectral information may be selected from the group consisting of wavelength, specifically peak wavelength, and color coordinates such as CIE coordinates.

  The determination of the color of the light beam can be performed in a variety of ways generally known to those skilled in the art. Therefore, the spectral sensitivity of the optical sensor may be spread over the coordinate system of the color space, for example, as known by those skilled in the art by the method of determining the CIE coordinates, May be given.

  As an example, the detector may comprise two or more optical sensors in a stack. Thus, at least two, preferably at least three of the optical sensors may have different spectral sensitivities. Further, the evaluation device may be configured to generate at least one color information of the light beam by evaluating signals of optical sensors having different spectral sensitivities.

  As an example, the stack may include at least three optical sensors that are spectrally sensitive optical sensors. Thus, for example, a spectrally sensitive optical sensor may comprise at least one red sensitive optical sensor whose spectral range of maximum absorption wavelength λr is 600 nm <λr <780 nm, which spectral sensitive optical sensor has a maximum absorption wavelength λg. The spectral sensitive optical sensor further comprises at least one green sensitive optical sensor having a spectral range of 490 nm <λg <600 nm, and the spectral sensitive optical sensor has at least one blue sensitive optical having a spectral range of a maximum absorption wavelength λb of 380 nm <λb <490 nm. A sensor is further provided. As an example, the red sensitive optical sensor, the green sensitive optical sensor, and the blue sensitive optical sensor may be the first optical sensor of the optical sensor stack facing the object in this order or in a different order.

  The evaluation device may be configured to generate at least two color coordinates, preferably at least three color coordinates, each color coordinate divided by a normalized value of one signal of the spectrally sensitive optical sensor. To be determined. As an example, the normalized value may include the sum of all spectrally sensitive optical sensor signals. Alternatively or alternatively, the normalized value may include the detector signal of the white detector.

  The at least one color information may include color coordinates. As an example, the at least one color information may include CIE coordinates.

  Preferably, in addition to at least two, more preferably at least three spectrally sensitive optical sensors, the stack may further comprise at least one white detector, which is the absorption of all spectrally sensitive detectors. It may be configured to absorb the light in the region. Thereby, as an example, the white detector may have an absorption spectrum that absorbs light in the entire visible spectrum region.

Each of the spectrally sensitive optical sensors includes at least one dye configured to absorb one or more of the light in the visible spectral region, the ultraviolet spectral region, and the infrared spectral region with a non-uniform absorption spectrum. May be. As an example, each dye may have an absorption spectrum having at least one absorption peak. As a solid, film, or sensitizer on a framework material (eg, TiO ₂ ), the absorption peak may be due to the use of a dye that absorbs across one or more of the visible, infrared, or ultraviolet spectral regions, etc. Full width at half maximum (FWHM) or 300 nm or less, preferably 200 nm or less, more preferably 80 nm or less, 60 nm or less, or width such as FWHM that can be narrowed by using a dye having a FWHM of 40 nm or less It may be. The absorption peaks of each dye may be separated by at least 60 nm, preferably at least 80 nm, more preferably at least 100 nm. Other embodiments are also possible.

  As outlined above, if the detector comprises a plurality of optical sensors, these optical sensors may preferably be arranged in a stack. Where a plurality of optical sensors are provided, these optical sensors may be the same, and with respect to at least one characteristic, such as geometric characteristics, device configuration characteristics, or spectral sensitivity as outlined above. , At least two of these optical sensors may be different.

  As an example, as outlined above, the plurality of optical sensors includes an optical sensor having sensitivity in the red spectral range (R), an optical sensor having spectral sensitivity in the green spectral range (G), and a spectrum in the blue spectral range (B). Different spectral sensitivities, such as sensitive optical sensors, may be provided. As outlined above, different spectral sensitivities can be provided by various means, such as providing absorbing materials with different spectral sensitivities and / or providing one or more wavelength selective elements. Thus, various combinations of optical sensors with different spectral sensitivities may be provided in different arrangements of optical sensor stacks and / or optical sensors. As an example, RGB stacks in a given or different order may be provided. In addition to or as an alternative, two optical sensors with different spectral sensitivities may be sufficient to derive color information, such as by evaluating the ratio of sensor signals of optical sensors with different spectral sensitivities.

  Furthermore, when a plurality of optical sensors are provided, the plurality of optical sensors may differ with respect to the device configuration and / or the materials used. Specifically, the optical sensor may have different properties depending on whether it is organic or inorganic. Accordingly, the plurality of optical sensors, more specifically the stack, includes one or more organic optical sensors, one or more inorganic optical sensors, one or more hybrid organic-inorganic optical sensors, or these optical sensors. Any combination of at least two of these may be included. Thereby, as an example, the stack may be composed of only an organic optical sensor, may be composed of only an inorganic optical sensor, or may be composed of only a hybrid organic-inorganic optical sensor. In addition or as an alternative, the stack may comprise at least one organic optical sensor and at least one inorganic optical sensor, or may comprise at least one organic optical sensor and at least one hybrid organic-inorganic optical sensor. Alternatively, at least one inorganic optical sensor and at least one hybrid organic-inorganic optical sensor may be provided. The stack may preferably comprise at least one organic optical sensor and may further comprise at least one inorganic optical sensor, preferably on the side of the stack furthest from the object. Thereby, as an example, as will be outlined in more detail below, the stack may comprise at least one organic optical sensor, such as at least one DSC or sDSC, and more preferably, most from the object of the stack. At least one inorganic sensor such as a CCD or CMOS sensor chip may be provided on the far side.

  Furthermore, when a plurality of optical sensors are provided, these optical sensors may be different with respect to their transparency. Thereby, as an example, all or part of all the optical sensors may be transparent. Alternatively, all or a part of all the optical sensors may be opaque (also referred to as light shielding property). Furthermore, in particular when a plurality of optical sensors are arranged as a stack, a combination of at least one at least partially transparent optical sensor and at least one at least partially opaque optical sensor is used. It may be. Thus, the stack may comprise one or more transparent optical sensors, and may further comprise at least one opaque optical sensor, preferably on the side of the stack furthest from the object. Thus, as outlined above, one or more at least partially transparent optical sensors are provided using one or more transparent organic optical sensors such as one or more transparent DSCs or sDSCs. It may be. In addition or as an alternative, at least partially transparent optical sensors by using inorganic sensors such as ultra-thin inorganic optical sensors or inorganic optical sensors with a band gap designed to transmit at least part of the incident light May be provided. Further, an opaque optical sensor may be provided using an opaque electrode and / or an opaque absorbing material such as an organic and / or inorganic material. As an example, an organic optical sensor having a thick metal electrode such as a metal electrode having a thickness of more than 50 nm, preferably more than 100 nm may be provided. In addition or as an alternative, an inorganic optical sensor with an opaque semiconductor material may be provided. As an example, a normal CCD or CMOS camera chip provides opaque characteristics. As an example, the stack may also include one or more at least partially transparent DSCs or sDSCs and an opaque CMOS or CCD chip on the side farthest from the object. Other embodiments are also possible.

  As outlined above, the detector may further comprise at least one transmission device. The transmission device may preferably be positioned in the optical path between the object and the detector. As used herein, a transmission device is generally any optical element configured to guide a light beam onto an optical sensor. This guidance may be performed by an uncorrected characteristic of the light beam, or may be performed by an image forming or correcting characteristic. Thus, in general, the transmission device may have imaging properties and / or beam shaping properties. That is, when the light beam passes through the transmission device, the beam waist and / or the divergence angle of the light beam and / or the cross-sectional shape of the light beam may be changed. As an example, the transmission device may comprise one or more elements selected from the group consisting of lenses and mirrors. The mirror may be selected from the group consisting of a plane mirror, a convex mirror, and a concave mirror. In addition or as an alternative, one or more prisms may be provided. This addition or alternative may also comprise one or more wavelength selection elements, such as one or more filters, in particular a color filter and / or one or more dichroic mirrors. Furthermore, as an addition or alternative, the transmission device may comprise one or more diaphragms, such as one or more pinhole diaphragms and / or iris diaphragms.

  The transmission device can influence the direction of the electromagnetic radiation, for example by comprising one or more mirrors and / or beam splitters and / or beam deflection elements. As an alternative or in addition, the transmission device may comprise one or more imaging elements that may have the effect of a converging lens and / or a diverging lens. As an example, this optional transmission device can have one or more lenses and / or one or more convex and / or concave mirrors. Again, as an alternative or addition, the transmission device can have at least one wavelength selection element, such as at least one optical filter. Also as an alternative or addition, the transmission device can be designed to give a predetermined beam profile to the electromagnetic radiation, for example in the sensor area, in particular in the position of the sensor area. The optional embodiments of the optional transmission device can in principle be realized individually or in any desired combination. As an example, the at least one transmission device may be positioned in front of the detector, ie on the side of the detector facing the object.

  In addition to at least one longitudinal coordinate of the object, at least one lateral coordinate of the object may be determined. Thus, in general, the evaluation device may be further configured to determine at least one lateral coordinate of the object by determining the position of the ray on the matrix of pixels. In addition or as an alternative, at least one piece of information about the lateral position of the object may be derived by following the beam path of the light, such as by tracking the center of illumination through the stack of optical sensors.

  As an example of determining the center of illumination, the evaluation device may be configured to determine the center of illumination of at least one matrix by the light beam, wherein at least one lateral coordinate of the object is at least of the center of illumination. Determined by evaluating one coordinate. Therefore, the coordinates of the center of irradiation may be pixel coordinates of the center of irradiation. As an example, the matrix may comprise rows and columns of pixels, given the x coordinate by the row number and / or the center of the ray in the matrix, depending on the column number and / or the center of the ray in the matrix. A y coordinate may be given.

  By providing one or more lateral coordinates, such as x-coordinate and / or y-coordinate, the evaluation device is configured to provide at least one three-dimensional position of the object. Alternatively or alternatively, as outlined above, the evaluation device may be configured to acquire a three-dimensional image of the scene. Specifically, the evaluation device may be configured to provide at least one three-dimensional image of the scene acquired by the detector.

  Another option of the invention represents a possible embodiment of the at least one optical sensor. In general, any optical sensor device having a matrix of pixels, such as an inorganic semiconductor sensor device such as a CCD chip and / or a CMOS chip, an optical sensor device selected from the group consisting of organic semiconductor sensor devices is used. In the latter case, as an example, the optical sensor may comprise at least one organic photovoltaic device having a matrix of pixels, for example. As used herein, an organic photovoltaic device generally refers to a device having at least one organic photosensitive element and / or at least one organic layer. Here, in general, any type of organic photovoltaic device may be used, such as an organic solar cell and / or any device having at least one organic photosensitive layer. As an example, an organic solar cell and / or a dye-sensitized organic solar cell may be provided. Furthermore, a hybrid device such as an inorganic-organic photovoltaic device may be used. The detector comprises one or more organic photovoltaic devices and / or comprises one or more inorganic photovoltaic devices and / or one or more organic photovoltaic devices and one or more It is possible to provide a combination of a plurality of inorganic photovoltaic devices.

  The optical sensor may specifically comprise at least one dye-sensitized solar cell having at least one patterned electrode. Possible embodiments of dye-sensitized solar cells are described in WO 2012 / 110924A1, US provisional patent application 61 / 739,173 and US provisional patent application 61 / 749,964. Can be referred to. The device configurations of the dye-sensitized solar cells disclosed therein, specifically, the optical sensors disclosed therein are generally applicable to the present invention. However, at least one of the electrodes of the dye-sensitized solar cell is patterned to provide a plurality of pixels. Thereby, as an example, one or both of the first and second electrodes of the dye-sensitized solar cell disclosed in the above document may be patterned. As an example, the first electrode may provide a plurality of parallel horizontal stripes by patterning and the second electrode may provide a plurality of parallel vertical stripes by patterning, and vice versa. Also good. Thus, pixels that can be read out by electrical contact of each electrode stripe and measurement of current and / or voltage may be provided at each intersection of the stripe of the first electrode and the stripe of the second electrode.

  The optical sensor specifically comprises at least one first electrode, at least one n semiconductor metal oxide, at least one dye, at least one p semiconductor organic material, preferably a solid p semiconductor organic material, and at least One at least one n-semiconductor metal oxide, at least one dye, and at least one p-semiconductor organic material embedded between the first electrode and the second electrode. It may be.

  As described above and outlined in more detail below, generally a first electrode, at least one n semiconductor metal oxide, at least one dye, at least one p semiconductor organic material, and at least one second electrode Possible embodiments of materials or layer combinations that can be used for the above are described in the above-mentioned International Publication No. 2012 / 110924A1 as well as US Provisional Patent Application No. 61 / 739,173 filed on Dec. 19, 2012. And US Provisional Patent Application No. 61 / 749,964, filed Jan. 8, 2013. Furthermore, other embodiments are possible. Thereby, as an example, the n semiconductor metal oxide may include a nanoporous layer of metal oxide and a high-density layer of metal oxide. The metal oxide may preferably be titanium dioxide or may contain titanium dioxide. For possible dyes, the dyes described in the above-mentioned documents such as the dye ID 504 can be referred to. Furthermore, for possible p-semiconductor organic materials, as an example, spiro MeOTAD may be used as disclosed in one or more of the above-mentioned documents. Similarly, for possible electrode materials, reference can be made to these documents, whether transparent or opaque. As outlined above, other embodiments are possible.

  Both the first electrode and the second electrode may be transparent. However, other electrode configurations are possible.

  As outlined above, at least one of the first electrode and the second electrode is preferably a patterned electrode. Thereby, as an example, one or both of the first electrode and the second electrode may include a plurality of electrode stripes such as a horizontal electrode stripe and / or a vertical electrode stripe. As an example of a pixelated optical sensor that can also be used in the context of the present invention, reference can be made to European Patent Application No. 13171898.3, the entire content of which is incorporated herein. Furthermore, another pixelated optical sensor may be used.

  As an example, as outlined above, the first electrode may include a plurality of electrode stripes, the second electrode may include a plurality of electrode stripes, and the electrode stripe of the first electrode may be the second electrode. Is oriented perpendicular to the electrode stripes. As outlined above, independently readable pixels are formed at each intersection of the electrode stripe of the first electrode and the electrode stripe of the second electrode.

  The detector contacts one of the electrode stripes of the first electrode and contacts one of the electrode stripes of the second electrode to measure the current flowing through the stripe and / or the voltage of each stripe. An appropriate readout electronic device such as a readout electronic device configured to perform the above measurement may be further provided. Further, a sequential readout method and / or a multiplexing method may be selected for pixel readout. Thus, as an example, all the pixels in one row may be read simultaneously, and then the next row of the matrix may be switched to sequentially read out all the pixel rows. Alternatively, by selecting row multiplexing, all pixels in one column may be read out spontaneously and then switched to the next column. However, other readout methods such as a readout method using a plurality of transistors are possible. In general, a passive matrix readout scheme and / or an active matrix readout scheme may be used. As an example of a usable readout method, reference can be made to US Patent Application No. 2007 / 0080925A1. Other reading methods can also be realized.

  For possible electrode materials, reference may be made to WO 2012/110924 A1, US provisional patent application 61 / 739,173 and US provisional patent application 61 / 749,964. Other embodiments are also possible. Specifically, at least one of the first electrode and the second electrode may contain a conductive polymer. Specifically, a transparent conductive polymer may be used. Reference is made to the above documents for possible embodiments of the conductive polymer.

  However, it should be noted that any other type of optical sensor having a plurality of pixels, preferably a transparent optical sensor, can be used in the present invention.

  In another aspect of the invention, a detection system for determining the position of at least one object is disclosed. A detection system comprises at least one detection according to the invention, such as one or more of the above embodiments and / or at least one detector disclosed in one or more of the embodiments disclosed in more detail below. Equipped with a bowl.

  The detection system further comprises at least one beacon device configured to guide at least one light beam to the detector. As disclosed herein in more detail below, a beacon device generally represents any device configured to guide at least one light beam to a detector. The beacon device may be embodied in whole or in part as an active beacon device with at least one illumination source that emits light. In addition or as an alternative, the beacon device may be all or one as a passive beacon device with at least one reflective element configured to independently reflect the generated chief ray from the beacon device to the detector. The part may be embodied.

  The beacon device may be capable of at least one of attachment to the object, retention by the object, and incorporation into the object. Thus, the beacon device may be attached to the object by any attachment means such as one or more connecting elements. Alternatively or alternatively, the object may be configured to hold the beacon device, such as by one or more suitable holding means. Further, as an addition or alternative, the beacon device may constitute a part of the object or the object itself by being entirely or partially incorporated into the object.

  In general, regarding possible embodiments of beacon devices, US Provisional Patent Application No. 61 / 739,173 filed on December 19, 2012 and US Provisional Application filed on January 8, 2013 are discussed. Reference may be made to one or more of patent application 61 / 749,964. Furthermore, other embodiments are possible.

  As outlined above, the beacon device may be embodied in whole or in part as an active beacon device and may include at least one illumination light source. Thereby, as an example, the beacon device may include a substantially arbitrary irradiation light source such as an irradiation light source selected from the group consisting of a light emitting diode (LED), a light bulb, an incandescent lamp, and a fluorescent lamp. Other embodiments are also possible.

  In addition or as an alternative, as outlined above, the beacon device may be embodied in whole or in part as a passive beacon device and is configured to reflect chief rays emitted by the illumination source independently of the object. Further, at least one reflection device may be provided. Thus, as an addition or alternative to ray generation, the beacon device may be configured to reflect the chief ray back to the detector.

  The detection system may comprise one, two, three or more beacon devices. Thus, in general, at least two beacon devices may preferably be used if the object is rigid and does not change shape at least at the microscope level. If all or part of the object is flexible or configured to change shape, preferably more than two beacon devices may be used. In general, the number of beacon devices may be adapted to the flexibility of the object. The detection system preferably comprises at least three beacon devices.

  In general, an object may be a living organism or an inanimate object. The detection system may include the at least one object, which may form part of the detection system. However, the object may be adapted to move independently from the detector, preferably in at least one spatial dimension.

  The object may generally be any object. In one embodiment, the object may be a rigid object. Other embodiments are also feasible, such as embodiments where the object is a non-rigid object or where the shape of the object can change.

  As outlined in more detail below, the present invention may be specifically used to track a person's position and / or movement for purposes such as machine control, gaming, or sports simulation. In this or other embodiments, the object is specifically selected from the group consisting of sports equipment, clothing, hats, shoes, preferably articles selected from the group consisting of rackets, clubs, bats. It may be like this.

  In yet another aspect of the invention, a man-machine interface is disclosed for exchanging at least one information between a user and a machine. The man-machine interface comprises at least one detection system according to the present invention, such as one or more of the embodiments disclosed above and / or one or more of the embodiments disclosed in more detail below. The beacon device is configured to perform at least one of direct or indirect attachment to the user and retention by the user. The man machine interface is designed to determine at least one position of the user by the detection system. The man-machine interface is also designed to assign at least one piece of information to the location.

  In yet another aspect of the present invention, an entertainment device that performs at least one entertainment function is disclosed. This entertainment device comprises at least one man-machine interface according to the present invention. Furthermore, the entertainment device is designed to allow a player to input at least one piece of information via a man-machine interface. The entertainment device is further designed to change the entertainment function according to this information.

  In yet another aspect of the invention, a tracking system for tracking the position of at least one movable object is disclosed. The tracking system comprises at least one detection system according to the present invention, such as one or more of the embodiments disclosed above and / or one or more of the embodiments disclosed in more detail below. The tracking system further comprises at least one tracking controller, the tracking controller being configured to track a series of positions of the object at a particular point in time.

In yet another aspect of the invention, a method for determining the position of at least one object is disclosed. The method includes the following steps that can be performed in a given or different order. Further, two or more or all of these method steps may be performed simultaneously and / or overlapping in time. Further, one, two or more or all of these method steps may be executed repeatedly. The method may further include additional method steps. This method
At least one detection step, wherein at least one light beam traveling from the object to the detector is detected by at least one optical sensor of the detector, the at least one optical sensor comprising a matrix of pixels; ,
At least one evaluation step, wherein an intensity distribution of the pixels of the optical sensor illuminated by the light beam is determined, and using the intensity distribution, at least one longitudinal coordinate of the object is determined;
including.

  This method preferably uses at least one detector according to the present invention, such as one or more of the embodiments disclosed above and / or one or more of the embodiments disclosed in more detail below. It may be executed. Accordingly, the preferred disclosure of this method can be referred to the detector disclosure and vice versa. Further, the method may be performed using a detection system, man-machine interface, entertainment device, or tracking system according to the present invention. Other embodiments are also possible.

  This method is specifically feasible so that the optical sensor generates at least one signal indicative of the illumination intensity of each pixel. This signal or the signal or information derived therefrom may also be referred to as intensity value or intensity information. An entity of a plurality of signals, intensity values, or intensity information may be referred to as an image. When a plurality of optical sensors are used, a stack of images or a three-dimensional image may be generated.

  For this reason, an analog and / or digital intensity signal may be generated for each pixel. For direct generation of a digital intensity signal or for example after analog-to-digital conversion, the digital signal of each pixel may be a 1-bit signal, preferably 4 bits, 8 bits, 16 bits or another bit It may be a signal having an information depth of 2 bits or more, such as a number.

  As outlined above, the longitudinal coordinates of the object may be determined using a predetermined relationship between the intensity distribution and the longitudinal coordinates.

Specifically, the intensity distribution
The intensity as a function of the lateral position of each pixel in a plane perpendicular to the optical axis of the optical sensor,
Intensity as a function of pixel coordinates,
# Distribution of the number of pixels with a certain intensity as a function of intensity,
One or more of these may be included.

  Specifically, the intensity distribution may be an approximation of the intensity distribution of irradiation with Gaussian rays.

  This method is specifically executable to determine at least one intensity distribution function approximating the intensity distribution. The longitudinal coordinate of the object may be determined using a predetermined relationship between the longitudinal coordinate and the intensity distribution function and / or at least one parameter derived from the intensity distribution function. . Specifically, the intensity distribution function may be a beam shape function of a light beam. The intensity distribution may specifically include a mathematical function, specifically a two-dimensional or three-dimensional mathematical function approximating intensity information contained in at least a part of the pixel of the optical sensor. This mathematical function may specifically comprise a function of at least one pixel coordinate of a matrix of pixels. The pixel position of the pixel of the matrix may be defined by (x, y) where x and y are pixel coordinates, and the two-dimensional or three-dimensional mathematical function is f (x), f (y ), F (x, y) may include one or more functions selected from the group consisting of f (x, y). Here, f (x) or f (y) is considered a two-dimensional function, and f (x, y) is considered a three-dimensional function. Specifically, the two-dimensional or three-dimensional mathematical function is a bell-shaped function, Gaussian distribution function, Bessel function, Hermitian-Gaussian function, Laguerre-Gaussian function, Lorentz distribution function, binomial distribution function, Poisson distribution function, or these functions. One or more mathematical functions selected from the group consisting of at least one derivative including one or more of the following, at least one linear combination, or at least one product. Furthermore, combinations of two or more mathematical functions are possible. Thus, as outlined above, a two-dimensional or three-dimensional mathematical function is a product of at least one of two or more mathematical functions, such as two or more of the mathematical functions listed above, at least one linear combination, or A combination of at least one derivative or the like may be included.

When the mathematical function includes a product of two or more functions, as an example, the product may be in the form of f (x, y) = p (x) · q (y). Here, p (x) and q (y) are mathematical functions, for example, mathematical functions independently selected from the group consisting of a Gaussian function, a Hermitian-Gaussian function, and a Bessel function. Other functions are also possible. Further, f (x, y) is generally a rotationally symmetric function such as f (x, y) = f (x ² , y ² ) and / or f (x, y) = f (x ² + y ² ) It may be. This rotationally symmetric function is generally considered a special case of the product of two functions. However, it should be noted that these examples are given for illustrative purposes only and many other functions are feasible.

  As outlined above, the at least one intensity distribution may be determined. Specifically, a plurality of intensity distributions may be determined in a plurality of planes, and at least one intensity distribution is preferably determined for each plane, and these planes are the light of the detector. The axes are preferably perpendicular and the planes are preferably offset from one another along the optical axis. For this purpose, in particular, the detector may comprise a plurality of optical sensors, in particular a stack of optical sensors. Further, the vertical coordinate of the object may be determined by determining a change in intensity distribution as a function of the vertical coordinate along the optical axis. Further, a plurality of intensity distribution functions each approximating the intensity distribution in one of the planes may be determined, and the longitudinal coordinate of the object is further obtained from the plurality of intensity distribution functions. May be used. Each of the intensity distribution functions may be a beam shape function of light rays in each plane. At least one beam parameter may be derived from each intensity distribution function. Further, the longitudinal coordinate of the object may be determined by determining a change in at least one beam parameter as a function of the longitudinal coordinate along the optical axis. Specifically, the at least one beam parameter may be selected from the group consisting of a beam diameter, a beam waist, and a Gaussian beam parameter. Specifically, the vertical coordinate of the object may be determined using a predetermined relationship between the beam parameter and the vertical coordinate.

  In the evaluation step, for each pixel, it may be determined whether the pixel is an irradiated pixel by comparing the signal of each pixel with at least one threshold value.

  As outlined above, this threshold may be a predetermined threshold or a variable threshold that can be determined according to at least one predetermined algorithm.

  In the evaluation step, at least one pixel of the maximum illumination among the pixels is determined by comparing the signals of the pixels. Thereby, one or a plurality of pixels of the maximum irradiation among the pixels of the matrix may be determined.

Information about one or more pixels of maximum illumination can be used in various ways. Thereby, as an example, this information may be used to determine the above-described threshold. As an example, the threshold value may be selected as a ratio of a signal of at least one pixel of maximum irradiation. As outlined above, as an example, the threshold may be adapted to monkey selected by multiplying a factor 1 / e ² to the signal of at least one pixel having the maximum illumination.

  As outlined above, determining the intensity distribution may include determining the number N of pixels of the optical sensor illuminated by the light beam, and determining the at least one longitudinal coordinate of the object illuminated by the light beam. Including the use of the number N of rendered pixels. Specifically, the vertical coordinate of the object may be determined using a predetermined relationship between the number N of pixels irradiated by the light beam and the vertical coordinate.

ここで、ｚは、縦方向座標であり、
ｗ_０は、光線が空間中を伝搬する際の最小ビーム半径であり、
ｚ_０は、光線のレイリー長であって、ｚ_０＝π・ｗ_０ ^２／λであるとともに、λは光線の波長である。 The vertical coordinate of the object may be determined using a predetermined relationship between the number N of pixels irradiated by the light beam and the vertical coordinate. As outlined above, this predetermined relationship may be an empirical relationship and / or an analytical relationship. As an example, this predetermined relationship may be based on the assumption that the ray is a Gaussian ray. Therefore, as described above with respect to the detector, this predetermined relationship may be as follows.

Where z is the vertical coordinate,
w ₀ is the minimum beam radius at which a ray propagates through space,
z ₀ is the Rayleigh length of the ray, z ₀ = π · w ₀ ² / λ, and λ is the wavelength of the ray.

  Again, the pixel matrix may preferably be a two-dimensional matrix. The pixel matrix may more preferably be a rectangular matrix.

  The detector may include one optical sensor, preferably a plurality of optical sensors. The optical sensors may be stacked along the optical axis of the detector.

The detector may include n optical sensors. Here, for each optical sensor, the number N _{i of} pixels irradiated with light rays may be determined, and iε {1, n} indicates each optical sensor.

For each optical sensor, by comparison with at least one adjacent optical sensors the number N _i of pixels illuminated by light, may be adapted ambiguity vertical coordinates of the object is eliminated. Furthermore, as an addition or as an alternative, the sensor signal of the optical sensor may be normalized with respect to the power of the light beam.

  In another aspect of the invention, photography applications such as location measurements in traffic technology, entertainment applications, security applications, safety applications, man-machine interface applications, tracking applications, arts, recordings, or digital photography applications for technical purposes, One or more of the embodiments disclosed above and / or of the embodiments disclosed in more detail below, for use selected from the group consisting of: use in combination with at least one time-of-flight detector The use of a detector according to the present invention, such as one or more of the following, is disclosed.

  Therefore, the detector according to the present invention is generally applicable in various fields of use. Specifically, the detector is at least one selected from the group consisting of location measurement in traffic technology, entertainment application, security application, man-machine interface application, tracking application, photography application, indoor, building, and street. Mapping applications that generate a map of at least one space, such as space, mobile applications, webcams, audio devices, Dolby surround audio systems, computer peripherals, gaming applications, camera or video applications, surveillance applications, automotive applications, transportation applications, Medical applications, sports applications, machine vision applications, vehicle applications, aircraft applications, marine applications, spacecraft applications, building applications, construction applications, mapping applications, manufacturing applications, use in combination with at least one time-of-flight detector Applicable for a purpose selected from the group consisting of That. In addition to or as an alternative, specifically local and / or global positioning systems intended for use by vehicles such as cars (trains, bikes, bicycles, freight trucks, etc.), robots or pedestrians, in particular Landmark-based positioning and / or navigation applications may be mentioned. Furthermore, an indoor positioning system can also be mentioned as a possible application for home use and / or robots used in manufacturing technology.

  Accordingly, International Publication No. 2012 / 110924A1, US Provisional Patent Application No. 61 / 739,173, filed on December 19, 2012, US Provisional Patent Application, filed on January 8, 2013 No. 61 / 749,964, U.S. Provisional Patent Application No. 61 / 867,169 filed on August 19, 2013, and International Patent Application No. PCT filed on December 18, 2013. The detector and detection system according to the present invention for a plurality of uses, such as one or more of the objects disclosed in more detail below, with respect to the optical detector and apparatus disclosed in the specification / IB2013 / 061095 , A man-machine interface, an entertainment device, a tracking system, or a camera (hereinafter simply referred to as “device according to the invention”).

  Thus, the device according to the invention can first be used for stationary or mobile computers or communication applications such as mobile phones, tablet computers, laptops, smartphones and the like. For this reason, the apparatus according to the present invention may be improved in performance by combining with at least one active light source such as a light source that emits light in the visible range or the infrared spectral range. Thus, as an example, the apparatus according to the present invention may be used as a camera and / or sensor in combination with mobile software that scans the environment, objects, and organisms. The apparatus according to the present invention may be combined with a 2D camera such as a conventional camera to enhance the imaging effect. The device according to the invention can further be used as an input device for controlling mobile devices in combination with monitoring and / or recording purposes or in particular with voice and / or gesture recognition. Thereby, in particular, the device according to the present invention acting as a man-machine interface, also called an input device, can be used for mobile applications such as control of other electronic devices or components via a mobile device such as a mobile phone. As an example, a mobile application comprising at least one device according to the invention can be used to control an entertainment device such as a television receiver, game console, music player or music equipment.

  Furthermore, the device according to the invention can be used in webcams or other peripheral devices for computing applications. Thus, as an example, the apparatus according to the present invention may be used in combination with software for imaging, recording, monitoring, scanning, or motion detection. As outlined in the background of man-machine interfaces and / or entertainment devices, the device according to the invention is particularly useful for giving commands by facial expressions and / or body expressions. The device according to the present invention can be combined with other input generating devices such as a mouse, a keyboard, a touchpad, and a microphone. Furthermore, the apparatus according to the present invention can be used for game applications by using a web camera or the like. Furthermore, the device according to the invention can be used for virtual training applications and / or video conferencing.

  Furthermore, the device according to the present invention can be used for a mobile audio device, a television device, and a game device as described above in part. Specifically, the device according to the present invention can be used as a controller or control device for electronic devices, entertainment devices and the like. Furthermore, the apparatus according to the present invention is particularly suitable for augmented reality applications and / or 2D and 3D display technology using a transparent display for the presence or absence of visual recognition and / or the recognition of the viewpoint of the display. It can be used for target tracking.

  Furthermore, the apparatus according to the present invention can be used in a digital camera such as a DSC camera and / or a reflex camera such as an SLR camera, or as such a camera. For these applications, reference can be made to the use of the device according to the present invention in mobile applications such as the mobile phones disclosed above.

  Furthermore, the device according to the invention can be used for security or monitoring applications. Thereby, by way of example, at least one device according to the invention can be combined with one or more digital and / or analog electronics that emit a signal when an object is inside or outside a predetermined area ( (For example, monitoring applications in banks or museums). Specifically, the device according to the present invention can be used for optical encryption. Detection using at least one device according to the present invention can be complemented with wavelengths by IR, X-rays, UV-VIS, radar, an ultrasonic detector, or the like by combining with other detection devices. Furthermore, the apparatus according to the present invention may be capable of detection in a low light environment by combination with an active infrared light source. The device according to the invention is generally advantageous compared to an active detection system. Specifically, the device according to the present invention is for avoiding active signal transmission that can be detected by a third party, as in, for example, radar applications, ultrasound applications, LIDAR or similar active detection devices. Thus, the device according to the invention can generally be used for unrecognizable undetectable tracking of moving objects. Also, the device according to the present invention is generally less susceptible to manipulation and stimulation than conventional devices.

  Furthermore, assuming that the 3D detection by the device according to the present invention is simple and accurate, the device according to the present invention can generally be used for face and body and person recognition and identification. Here, the device according to the present invention may be combined with other detection means for identification or personal identification such as password, fingerprint, iris detection, voice recognition, or other means. Thus, the device according to the present invention can generally be used for security devices and other personal applications.

  Furthermore, the apparatus according to the present invention can be used in a 3D barcode reader for product identification.

  In addition to the security and monitoring applications described above, the apparatus according to the present invention can generally be used for space and area monitoring and monitoring. Therefore, the device according to the present invention can be used for surveying and monitoring space and area, and as an example, can be used for triggering or executing an alarm in the case of entry into a prohibited area. Thereby, the device according to the invention is generally optionally combined with other types of sensors, such as in combination with motion sensors or thermal sensors, image intensifiers or image intensifiers and / or photomultiplier tubes. Can be used for surveillance purposes in building surveillance or museum surveillance.

  Furthermore, the apparatus according to the present invention is advantageously applicable to camera applications such as video and video camera applications. Therefore, motion capture and 3D movie recording may be performed by using the apparatus according to the present invention. Here, the device according to the invention generally has many advantages over conventional optical devices. Thus, the complexity required for the optical component by the device according to the invention is generally low. Thereby, as an example, the apparatus according to the present invention can reduce the number of lenses as compared with a conventional optical apparatus by having only one lens, for example. The reduced complexity allows for very compact devices such as mobile applications. Conventional optical systems with two or more high-quality lenses are usually large, such as generally requiring a large beam splitter. Furthermore, the apparatus according to the present invention can generally be used for a focus / autofocus apparatus such as an autofocus camera. Furthermore, the device according to the invention can also be used for optical microscopy, in particular for confocal microscopy.

  Furthermore, the device according to the invention is generally applicable in the technical fields of automotive technology and transportation technology. Thereby, as an example, the device according to the present invention is used as a distance and monitoring sensor for adaptive travel control, emergency brake assist, lane departure warning, surround view, blind spot detection, reverse assistance, and other automobile and traffic applications, etc. Is possible. Furthermore, the device according to the present invention can also be used for velocity and / or acceleration measurements, such as by analyzing the first and second time derivatives of the position information obtained using the detector according to the present invention. . This feature may be generally applicable in automotive technology, transportation technology, or integrated transportation technology. Also, applications in other technical fields can be realized. The specific application in the indoor positioning system may more specifically be detection of an occupant position during movement to electronically control the use of a safety system such as an airbag. When an occupant is present at a position that is severely affected by the use of an air bag, the use of the air bag may be prevented.

  In the above or other applications, the device according to the present invention may generally be used as an independent device or in combination with other sensor devices such as radar and / or ultrasound devices. May be. Specifically, the device according to the present invention can be used for autonomous driving or safety issues. Further, in these applications, the device according to the present invention can be used in combination with an infrared sensor, a radar sensor that is an acoustic sensor, a two-dimensional camera, or other types of sensors. In these applications, the generally passive nature of the device according to the invention is advantageous. Thus, the device according to the present invention generally does not need to emit a signal, thus avoiding the risk of interference of active sensor signals by other signal sources. Specifically, the apparatus according to the present invention can be used in combination with recognition software such as standard image recognition software. Thus, since the signals and data provided by the device according to the present invention are usually easily processable, the required computational power is generally lower than established stereoscopic systems such as LIDAR. Assuming that the required space is constrained, the device according to the present invention, such as a camera, can be placed in a virtually arbitrary position of the vehicle, such as a window screen, front bonnet, bumper, light, mirror, or other position. . Various detectors according to the present invention, such as one or a plurality of detectors based on the effects disclosed in the present invention, can be combined to improve the capability of the concept of autonomous driving of vehicles or active safety (active safety), etc. it can. Accordingly, the various devices according to the present invention are combined with one or more other devices according to the present invention and / or conventional sensors in windows, bumpers, lights, etc., such as rear windows, side windows or front windows. You may do it.

  At least one device according to the invention, such as at least one detector according to the invention, can also be combined with one or more rain detection sensors. This is due to the fact that the device according to the invention is generally advantageous over conventional sensor technologies such as radar, especially during heavy rains. By combining at least one device according to the present invention with at least one conventional detection technology such as radar, an appropriate combination of signals according to weather conditions may be employable by software.

  Furthermore, the device according to the invention can generally be used for brake assist and / or parking assistance and / or speed measurement. The speed measurement can be incorporated into the vehicle or used outside the vehicle for measuring the speed of other vehicles in traffic control. Furthermore, the apparatus which concerns on this invention can be used for the detection of the empty parking space in a parking lot.

  Furthermore, the device according to the invention can be used in the fields of medical systems and sports. Therefore, in the field of medical technology, for example, surgical robotics used for endoscopes can be mentioned. This is because, as outlined above, the device according to the present invention requires a small volume and may be incorporated in another device. Specifically, an apparatus according to the present invention having at most one lens can be used for acquiring 3D information in a medical apparatus such as an endoscope. Furthermore, the device according to the present invention may be capable of tracking and analyzing movements in combination with suitable monitoring software. These applications are particularly useful, for example, in therapy, telediagnosis, and teletherapy.

  Furthermore, the device according to the present invention can be applied in the field of sports and exercise, such as training, remote instruction, or game purposes. Specifically, the apparatus according to the present invention is used in fields such as dance, aerobics, football, soccer, basketball, baseball, cricket, hockey, athletics, swimming, polo, handball, volleyball, rugby, sumo, judo, fencing and boxing. Is applicable. The device according to the present invention can be used to determine sports specific situations such as monitoring a game, assisting a referee, determining whether a point or goal has actually occurred, specifically an automatic determination, etc. It can be used to detect the position of the ball, bat, sword, movement, etc. in both.

  Furthermore, the device according to the invention can be used in rehabilitation and physical therapy for training encouragement and / or motion investigation and correction. Here, the apparatus according to the present invention is also applicable to remote diagnosis.

  Furthermore, the apparatus according to the present invention is applicable in the field of machine vision. Thereby, for example, one or more of the devices according to the present invention can be used as a passive control unit for autonomous traveling and / or working of a robot. In combination with a mobile robot, the device according to the present invention enables autonomous movement and / or autonomous detection of component failures. The apparatus according to the present invention can be used for manufacturing and safety monitoring for the purpose of avoiding accidents including but not limited to collisions between robots, manufacturing parts, and living things. In robotics, safe and direct interaction between humans and robots is often a challenge. This is because a robot may seriously injure a person when it does not recognize the person. The device according to the invention can help the robot to position objects and humans well and fast, enabling safe interaction. Assuming that the device according to the present invention has a passive nature, the device according to the present invention is advantageous over active devices and / or existing ones such as radar, ultrasound, 2D camera, IR detection, etc. Complementary use with the solution may be possible. A specific advantage of the device according to the invention is that the possibility of signal interference is low. Therefore, a plurality of sensors can work simultaneously in the same environment without risk of signal interference. Thereby, the apparatus according to the present invention can generally be useful in automobiles, mining, steel making, etc., and in highly automated manufacturing environments that are not limited thereto. The apparatus according to the present invention can be used for quality control in manufacturing as a combination with other sensors such as 2D imaging, radar, ultrasonic waves, IR, etc. for the purpose of quality control. Furthermore, the device according to the invention can be used for the evaluation of surface quality, such as investigation of surface uniformity of products or compliance with specified dimensions, from the micrometer range to the meter range. Other quality control applications can also be realized. In a manufacturing environment, the device according to the invention is particularly useful for processing natural products such as foodstuffs or wood with a complex three-dimensional structure to avoid increasing waste. Furthermore, the device according to the invention can be used for monitoring the filling level of tanks, silos and the like.

  Furthermore, the device according to the invention can be used for polling, aircraft, ships, spacecraft and other traffic applications. Therefore, in addition to the applications described above in the context of traffic applications, there are passive tracking systems used for aircraft, vehicles, and the like. It is feasible to use at least one device according to the invention, such as at least one detector according to the invention, for monitoring the speed and / or direction of a moving object. Specifically, tracking high-speed moving objects in the air including the ground, the sea, and space. In particular, at least one device according to the present invention, such as at least one detector according to the present invention, can be mounted on a stationary and / or moving device. The output signal of at least one device according to the invention can be combined, for example, with a guidance mechanism for autonomous or guided movement of another object. Therefore, an application for avoiding or allowing a collision between the tracking object and the control object can be realized. The device according to the invention generally has the passive nature of a detection system which requires a low computational power, responds instantaneously and is generally difficult to detect and block compared to an active system such as a radar, for example. Therefore, it is useful and convenient. The device according to the present invention is particularly useful for, for example, speed control and air traffic control devices, but is not limited thereto.

  The device according to the invention can generally be used for passive applications. Passive applications include ship guidance in harbors or hazardous areas and aircraft guidance during takeoff and landing. Here, precise guidance may be performed using a fixed known active target. The above can also be used for vehicles that travel on a clearly defined route although they are dangerous, such as mining vehicles.

  Furthermore, as outlined above, the device according to the present invention can be used in the field of games. Therefore, the apparatus according to the present invention may be passive with respect to combined use with a plurality of objects of the same or different sizes, colors, shapes, etc., such as movement detection in combination with software incorporating movement in its contents. it can. In particular, it is possible to implement applications that implement movement in graphic output. Furthermore, the use of the device according to the present invention can be realized by use of one or more gestures or face recognition among the devices according to the present invention. The device according to the present invention may be combined with an active system to operate in other situations where, for example, low light conditions or ambient conditions need to be enhanced. As an addition or alternative to this, one or more of the devices according to the invention can be combined with one or more IR or VIS light sources. It is also possible to combine the detector according to the present invention with a special device, for example, special color, shape, relative position with respect to other devices, moving speed, light, frequency for modulating the light source on the device. , Surface characteristics, materials used, reflection characteristics, transparency, absorption characteristics, etc., which can be easily distinguished by the system and its software, but are not limited thereto. This device, among other possibilities, cane, racket, club, gun, knife, wheel, ring, handle, bottle, ball, glass, vase, spoon, fork, cube, dice, finger, finger puppet , Teddy, Beaker, Pedal, Switch, Glove, Jewel, Musical Instrument, or Auxiliary Device for playing musical instruments such as picks, drumsticks, etc. Other options are also possible.

  Furthermore, the device according to the invention can generally be used in the fields of construction, construction and cartography. Thus, one or more devices according to the present invention can generally be used for measuring and / or monitoring environmental areas such as, for example, rural areas or buildings. Here, one or more of the devices according to the present invention may be combined with other methods and devices, or used alone to develop architectural projects, changing objects, houses, etc. It is also possible to monitor the accuracy. The apparatus according to the present invention can be used to generate a three-dimensional model of a scanned environment, thereby constructing a map of a room, a street, a house, a region, or a terrain from both the ground and the air. Possible application fields may be construction, cartography, real estate management, geodetic surveys, etc.

  One or more devices according to the present invention can be further used for scanning an object, such as in combination with CAD or similar software, such as for additive manufacturing and / or 3D printing. Here, the high dimensional accuracy of the device according to the present invention may be used in any combination, for example, in the x, y, or z direction or in any combination of these directions. Furthermore, the apparatus according to the present invention can be used for inspection and maintenance, such as a pipeline inspection gauge.

  As outlined above, the device according to the present invention can be further used for identification applications such as manufacturing, quality control, or product identification or size identification (eg searching for an optimal arrangement or package for waste reduction etc.). is there. Furthermore, the apparatus according to the present invention can be used for logistics applications. Therefore, the cargo handling or packing container or vehicle may be optimized by using the apparatus according to the present invention. Furthermore, the apparatus according to the present invention can be used for insurance applications such as monitoring or management of surface damage in the manufacturing field, monitoring or management of rental objects such as rental cars, and / or damage assessment. Furthermore, the device according to the present invention can be used to identify the size of a material, object or tool, such as optimal material handling, especially in combination with a robot. Furthermore, the apparatus according to the present invention can be used for production process control, for example, observation of the filling level of a tank. Furthermore, the apparatus according to the present invention can be used for maintenance of manufacturing assets such as tanks, pipes, reaction furnaces, and tools, but is not limited thereto. Furthermore, the device according to the invention can be used for the analysis of 3D quality marks. Furthermore, the apparatus according to the present invention can be used for the manufacture of custom-made products such as tooth inlays, orthodontic appliances, prostheses, and clothes. In addition, the apparatus according to the present invention may be combined with one or a plurality of 3D printers to perform quick trial production, 3D copying, and the like. Furthermore, the apparatus according to the present invention can be used for detecting the shape of one or a plurality of articles in order to prevent product infringement and counterfeiting.

  Therefore, specifically, the present application is applicable to the field of photography. For this reason, the detector may be a part of a photography apparatus, specifically a digital camera. In particular, the detector can be used for 3D photography, specifically digital 3D photography. For this reason, the detector may constitute a digital 3D camera or may be a part of the digital 3D camera. In this specification, the term photography generally refers to a technique for obtaining image information of at least one object. Further, in this specification, a camera is generally a device configured to take a picture. Further, in this specification, the term digital photography generally refers to an electrical signal indicative of the intensity and / or color of illumination, preferably at least using a plurality of photosensitive elements configured to generate a digital electrical signal. This represents a technique for acquiring image information of one object. Further, in this specification, the term 3D photography generally refers to a technique for acquiring image information of at least one object in three spatial dimensions. Accordingly, the 3D camera is a device configured to perform 3D photography. The camera may generally be configured to acquire a single image, such as a single 3D image, or may be configured to acquire a plurality of images, such as a series of images. For this reason, the camera may be a video camera adapted for video use such as acquisition of a digital moving image sequence.

  Thus, in general, the present invention further represents a camera that images at least one object, specifically a digital camera, more specifically a 3D camera or a digital 3D camera. As outlined above, in this specification, the term imaging generally refers to the acquisition of image information of at least one object. The camera comprises at least one detector according to the invention. As outlined above, the camera may be configured to acquire a single image, or may be configured to acquire a plurality of images, such as an image sequence, preferably a digital video sequence. Thereby, as an example, the camera may be a video camera or may include a video camera. In the latter case, the camera preferably comprises a data memory for storing the image sequence.

  The at least one optical sensor, in particular a detector or a camera comprising a FiP sensor as described above, may be further combined with one or more additional sensors. Thereby, the at least one optical sensor, in particular the at least one camera comprising the at least one FiP sensor, is combined with a conventional camera and / or at least one other camera, which may be for example a stereo camera You may do it. Further, the one or more cameras having the at least one optical sensor, specifically the at least one FiP sensor, may be combined with one or more digital cameras. As an example, the depth may be calculated from stereo information and depth information obtained by the detector according to the present invention by using one or two or more two-dimensional digital cameras.

  Specifically, in the field of automotive technology, if a camera fails, the detector according to the invention may still continue to measure the longitudinal coordinates of the object, such as measuring the distance of the object in the field of view. For this reason, the fail-safe function may be implemented by using the detector according to the present invention in the field of automobile technology. Specifically, for automotive applications, the detector according to the present invention has the advantage of reducing data. Therefore, compared with the camera data of a conventional digital camera, the data obtained using the detector according to the present invention, that is, the detector having the at least one optical sensor, specifically, the at least one FiP sensor. May be data with a very small amount of data. Specifically, in the field of automotive technology, automotive data networks generally have poor performance in terms of data transmission speed, so it is preferable to reduce the amount of data.

  The detector according to the present invention may further comprise one or more light sources. Therefore, the detector may include one or more light sources that irradiate the at least one object, so that, for example, the irradiation light is reflected by the object. The light source may be a continuous light source or a discontinuous emission light source such as a pulsed light source. The light source may be a uniform light source, a non-uniform light source, or a patterned light source. Thus, as an example, in order for the detector to measure at least one longitudinal coordinate to measure the depth of at least one object, etc., it is convenient if there is contrast in the illumination or scene acquired by the detector. . In the absence of contrast due to natural illumination, the detector is able to detect all or one of the scene and / or at least one object in the scene, preferably by patterned light, via the at least one optional light source. You may be comprised so that a part may be irradiated. Thus, as an example, the light source may increase the contrast in the image acquired by the detector by projecting the pattern onto the scene, on the wall, or onto at least one object.

  The at least one optional light source may generally emit one or more lights in the visible spectral range, the infrared spectral range, or the ultraviolet spectral range. The at least one light source preferably emits light in at least the infrared spectral range.

  The detector may also be configured to automatically illuminate the scene. Therefore, a detector such as an evaluation device may be configured to automatically control illumination of the scene acquired by the detector or a part thereof. Thus, as an example, the detector may be configured to recognize when a large area has low contrast and it is difficult to measure longitudinal coordinates such as depth in these areas. . In these cases, as an example, the detector may be configured to automatically illuminate these areas with patterned light, such as projection of one or more patterns onto these areas.

  In the present invention, the expression “position” generally represents at least one piece of information about one or more of the absolute position and orientation of one or more points of the object. Thus, specifically, the position may be determined in a detector coordinate system such as a Cartesian coordinate system. However, as an addition or alternative, other types of coordinate systems such as a polar coordinate system and / or a spherical coordinate system may be used.

  As outlined above and in more detail below, the present invention may preferably be adapted to the field of man-machine interface, sports and / or computer games. Thus, preferably the object may be selected from the group consisting of sports equipment, clothing, hats, shoes, preferably articles selected from the group consisting of rackets, clubs, bats. Other embodiments are also possible.

  As used herein, an object may generally be any object selected from organisms and inanimate objects. Thus, by way of example, at least one object may include one or more articles and / or one or more portions of the articles. Alternatively or alternatively, the object may be one or more organisms and / or one or more parts thereof, such as one or more body parts of a human and / or animal such as a user, It may include one or more organisms and / or one or more sites thereof.

  The coordinate system that determines the position of the object may be the coordinate system of the detector, but with respect to that coordinate system, the detector is such that the optical axis of the detector constitutes the z axis and is perpendicular to the z axis and to each other. You may make it comprise the coordinate system which can provide a vertical x-axis and a y-axis. As an example, the detector and / or part of the detector may be located at a specific point, such as the origin of this coordinate system. In this coordinate system, a direction parallel or antiparallel to the z axis may be regarded as a vertical direction, and a coordinate along the z axis may be considered as a vertical coordinate. Further, any direction perpendicular to the vertical direction may be considered as the horizontal direction, and x and / or y coordinates may be considered as the horizontal direction coordinates.

  Alternatively, other types of coordinate systems may be used. Thus, as an example, a polar coordinate system may be used in which the optical axis constitutes the z-axis and the distance from the z-axis and the polar angle can be used as additional coordinates. Also in this case, a direction parallel or antiparallel to the z axis may be considered as the vertical direction, and coordinates along the z axis may be considered as the vertical direction coordinates. Further, an arbitrary direction perpendicular to the z-axis may be considered as a lateral direction, and polar coordinates and / or polar angles may be considered as lateral coordinates.

  As used herein, a detector that determines the position of at least one object is generally a device configured to provide at least one information regarding the position of the at least one object and / or a portion thereof. . Therefore, the position may represent information that completely describes the position of the object or a part thereof, preferably in the coordinate system of the detector, or partial information that only partially describes the position. May be represented. The detector may generally be a device configured to detect a light beam, such as a light beam traveling from the beacon device to the detector.

  The evaluation device and the detector may be incorporated in whole or in part into a single device. Therefore, in general, the evaluation apparatus may also constitute part of the detector. Alternatively, the evaluation device and the detector may be embodied as separate devices in whole or in part. Moreover, the detector may be provided with another component.

  The detector may be a fixed device or a mobile device. Further, the detector may be a stand-alone device or may form part of another device such as a computer, vehicle, or any other device. Further, the detector may be a handheld device. Other embodiments of detectors are also feasible.

  As used herein, an optical sensor is generally a device designed to generate at least one longitudinal sensor signal in response to illumination of the optical sensor by a light beam. As outlined above and in more detail below, the detector according to the present invention preferably comprises a plurality of optical sensors, preferably as a sensor stack.

  The at least one optical sensor includes one or more photodetectors, preferably one or more organic photodetectors, most preferably one or more solid dye-sensitized organic solar cells (sDSC), etc. One or more dye-sensitized organic solar cells (DSC (also called dye solar cells)) may be provided. Accordingly, the detector preferably has one or more DSCs (such as one or more sDSCs) that operate as at least one optical sensor, preferably a stack of DSCs that operate as at least one optical sensor. a stack of sDSCs is preferred). As an addition or alternative, the detector may comprise other types of optical sensors, as outlined in more detail below.

  As outlined above, the detector according to the present invention may specifically comprise a plurality of optical sensors, also referred to as pixelated sensors or pixelated optical sensors. Specifically, the detector may comprise a stack of optical sensors, such as a stack of transparent optical sensors.

  Thus, the detector may comprise at least one stack of optical sensors and may be configured to acquire a three-dimensional image of the scene within its field of view. The optical sensors in the stack may have the same spectral characteristics, such as the same or uniform absorption spectrum. Alternatively, the stack optical sensors may have different spectral characteristics. Accordingly, the stack comprises at least one first optical sensor having a first spectral sensitivity and at least one second optical sensor having a second spectral sensitivity, the first spectral sensitivity and the second Spectral sensitivity may be different. Specifically, the stack may include optical sensors having different spectral characteristics. The detector may be configured to acquire a multi-color three-dimensional image, preferably a full-color three-dimensional image, by evaluating sensor signals of optical sensors having different spectral characteristics.

  Thus, in general, by using a pixelated sensor, specifically a transparent pixelated sensor, the at least one optional transmission device, more specifically to at least one lens of the detector. Images may be recorded at different distances to the detector, such as different distances. When two or more pixelated sensors are used, multiple images may be recorded simultaneously at different distances to the detector. The distance to the lens is preferably such that different parts of the image are in focus. Thus, the image can be used in image processing techniques known as focus stacking, z stacking, and focal plane synthesis. Applications of these techniques include obtaining images with a large depth of field, and are particularly useful in imaging techniques where the depth of field is generally very shallow, such as close-up photography or optical microscopy. Another application is the acquisition of distance information using an algorithm, for example, a convolution-based algorithm such as a DFF (Depth from Focus) method or a DFD (Depth from Defocus) method. Another application is the enjoyment of great artistic or scientific benefits from image optimization.

  In addition, by using a detector having a plurality of pixelated sensors, the light field behind the lens or lens system of the detector comparable to a compound eye or light field camera may be recorded. Thus, specifically, the detector may be embodied as, for example, a light field camera configured to acquire images at multiple focal planes simultaneously. As used herein, the term light field generally refers to the spatial propagation of light inside a detector, such as inside a camera. Specifically, a detector according to the present invention having a stack of optical sensors may be able to directly record a detector behind the lens or an irradiation field in the camera. Multiple pixelated sensors may record images at different distances from the lens. By using a convolution-based algorithm such as DFF or DFD, the propagation direction, focus, and light spread behind the lens can be modeled. Model light propagation behind the lens to extract images at various distances to the lens, optimize depth of field, extract focused photos at various distances, or calculate object distances It is. Another information may be extracted.

  Modeling and / or recording light propagation inside the detector, such as behind the lens of the detector, provides many advantages with this information regarding light propagation. Thus, the light field may be recorded in terms of the beam parameters of one or more rays of the scene acquired by the detector. As an example, for each ray recorded, two or more beam parameters such as one or more Gaussian beam parameters such as a beam waist, a minimum beam waist as a focus, a Rayleigh length, or other beam parameters may be used. It may be recorded. Further, a plurality of representations of light rays may be used, and beam parameters may be selected according to this.

  As an example, this information regarding light propagation can slightly modify the position of the observer after recording an image stack using image processing techniques. In a single image, an object may not be visible behind another object. However, if light scattered by a hidden object reaches and passes through one or more of the sensors, the distance to the lens and / or image plane relative to the optical axis is changed or the non-planar image plane May cause the object to be visualized. Changing the observer's position may be comparable to viewing a hologram whose image changes with a slight change in the observer's position.

  Furthermore, it is possible to store image information more compactly than the conventional technique of storing each image recorded by an individual optical sensor by information on light propagation inside the detector by modeling light propagation behind the lens. There may be. The memory requirement for storing all images of each optical sensor typically corresponds to the product of the number of sensors and the number of pixels. The light propagation memory requirement also corresponds to the product of the number of modeled rays and the number of parameters per ray. Common model functions for rays are Gaussian, Lorentz, Bessel, especially spherical Bessel, other functions commonly used to describe diffraction effects in physics, or point spread, line spread, or edge A normal spreading function used in the DFD technique, such as a spreading function, may be used.

  Further, by using a plurality of pixelated sensors, it is possible to correct a lens error in an image processing step after image recording. Optical devices are often expensive and difficult to construct when lens error correction is required. These are particularly problematic in microscopes and telescopes. In a microscope, a typical lens error is a different distortion (spherical aberration) of a light beam with a different distance to the optical axis. In a telescope, the focus may fluctuate when the atmospheric temperature changes. Static errors such as spherical aberration and other errors due to production are determined in the calibration step, then fixed image processing such as a fixed set of pixels and sensors or more complex processing techniques using light propagation information. You may make it correct | amend using. If the lens error is highly time dependent, i.e. it depends on the weather conditions in the telescope, the lens error is due to the use of light propagation behind the lens, the calculation of images with extended depth of field, the use of DFF technology, etc. You may make it correct | amend.

  As outlined above, the detector according to the present invention may further be capable of color detection. For color detection in a stack of pixelated sensors, this series of stacks may have pixels with different or similar absorption characteristics to a so-called Bayer pattern so that color information can be obtained by interpolation techniques. It may be. Another method may be to use alternating color sensors so that different sensors in the stack record different colors. In the Bayer pattern, colors may be interpolated between pixels of the same color. Also, in the sensor stack, image information such as color and brightness can be acquired by interpolation techniques.

  The evaluation device is one or more integrated circuits such as one or more application specific integrated circuits (ASICs) and / or one or more computers, preferably one or more microcomputers and / or microcontrollers. One or a plurality of data processing devices may be included, and such an integrated circuit and / or data processing device may be provided. One or more pre-processing devices and / or data, such as one or more devices that receive and / or pre-process sensor signals, such as one or more AD converters and / or one or more filters. Another component, such as an acquisition device, may be provided. Furthermore, the evaluation device may comprise one or more measuring devices, such as one or more measuring devices for measuring current and / or voltage. Thereby, as an example, the evaluation apparatus may include one or a plurality of measurement apparatuses that measure the current and / or voltage of the pixel. Furthermore, the evaluation device may comprise one or more data storage devices. The evaluation device may comprise one or more interfaces, such as one or more wireless interfaces and / or one or more wired interfaces.

  The at least one evaluation device is adapted to execute at least one computer program, such as at least one computer program configured to execute or support one or more or all method steps of the method according to the invention. It may be configured. As an example, one or more algorithms that can determine the position of an object may be implemented by using sensor signals as input variables.

  The evaluation device is at least one that can be used in performing one or more of display, visualization, analysis, distribution, communication, or another process such as an optical sensor and / or information acquired by the evaluation device It can be connected to another data processing device or it may comprise such a data processing device. As an example, the data processing device may be connected to or incorporated in at least one of a display, projector, monitor, LCD, TFT, speaker, multi-channel acoustic system, LED pattern, or another visualization device. It may be. Further, a communication device capable of transmitting encrypted or non-encrypted information using one or more of electronic mail, text message, telephone, Bluetooth, Wi-Fi, infrared, or Internet interface, port, or connection Alternatively, it may be connected to or incorporated in at least one of a communication interface, a connector or a port. Furthermore, systems such as processors, graphic processors, CPUs, OMAP (Open Multimedia Applications Platform ™), integrated circuits, Apple's A series or Samsung's S3C2 series products such as system on chip, microcontroller or microprocessor, ROM, RAM One or more memory blocks such as EEPROM or flash memory, timing source such as oscillator or phase lock loop, counter timer, real time timer, power on reset generator, voltage regulator, power management circuit, or DMA controller May be connected to or incorporated in at least one of the above. Furthermore, the individual units may be connected by a bus such as an AMBA bus.

  The evaluation device and / or data processing device can be an external device such as one or more of a serial or parallel interface or port, USB, Centronics port, FireWire, HDMI, Ethernet, Bluetooth, RFID, Wi-Fi, USART, or SPI. Even if connected by a standardized interface or port with another device such as an interface or port, an analog interface or port such as one or more of ADC or DAC, or a 2D camera device using RGB interface such as CameraLink It may also have such an interface or port. The evaluation device and / or data processing device may be further connected by one or more of an interprocessor interface or port, an FPGA-FPGA interface, or a serial or parallel interface or port. Further, the evaluation device and the data processing device are connected to one or more of an optical disk drive, a CD-RW drive, a DVD + RW drive, a flash drive, a memory card, a disk drive, a hard disk drive, a solid disk, or a solid hard disk. May be.

  Evaluation device and / or data processing device includes telephone connector, RCA connector, VGA connector, male / female connector, USB connector, HDMI connector, 8P8C connector, BCN connector, IEC60320C14 connector, optical fiber connector, D-sub connector, RF connector, coaxial connector Suitable for one or more of one or more of these connectors, such as one or more of SCART connectors, one or more of XLR connectors, connected by or having one or more other external connectors It is possible to incorporate at least one socket.

  One or more of an optical sensor, an optical system, an evaluation device, a communication device, a data processing device, an interface, a system-on-chip, a display device, or another electronic device, such as a detector, an evaluation device, or Possible embodiments of a single device incorporating one or more of the data processing devices are a mobile phone, a personal computer, a tablet PC, a television, a game console, or another entertainment device. In another embodiment, the 3D camera functions outlined below in more detail may be incorporated into devices available with conventional 2D digital cameras without noticeable differences in device housing or appearance, and may be noticeable to the user. May be only 3D information acquisition and / or processing functions.

  In particular, an embodiment incorporating a detector and / or part thereof, for example an evaluation device and / or a data processing device, may optionally include a display device, a data processing device, an optical sensor, for a 3D camera function. It may be a mobile phone incorporating a sensor optical system and an evaluation device. The detector according to the invention may specifically be suitable for incorporation into entertainment devices and / or communication devices such as mobile phones.

  Another embodiment of the present invention is the incorporation of a detector or part thereof, such as an evaluation device and / or a data processing device, into a device for use in an automotive safety system such as an automobile, autonomous driving, or Daimler's intelligent drive system. As an example, an optical sensor, optionally one or more optical systems, an evaluation device, optionally a communication device, optionally a data processing device, optionally one or more interfaces, optionally A device incorporating one or more of system-on-chip, optionally one or more display devices, or optionally another electronic device, is a vehicle, automobile, truck, train, bicycle, aircraft, ship, It may be part of a motorcycle. In automotive applications, the incorporation of this device into an automotive design may require the incorporation of an optical sensor, optionally an optical system, or device with minimal external or internal visibility. The detector or a part thereof, such as an evaluation device and / or a data processing device, may be particularly suitable for such integration into an automotive design.

  As used herein, the term light generally refers to electromagnetic radiation in one or more of the visible spectral region, the ultraviolet spectral region, and the infrared spectral region. Here, the term visible spectral range generally represents a spectral range of 380 nm to 780 nm. The term infrared spectral region generally refers to electromagnetic radiation in the range of 780 nm to 1 mm, preferably in the range of 780 nm to 3.0 micrometers. The term ultraviolet spectral region generally refers to electromagnetic radiation in the range of 1 nm to 380 nm, preferably in the range of 100 nm to 380 nm. The light used in the present invention is preferably visible light, that is, light in the visible spectral range.

  The term light beam generally refers to the amount of light emitted and / or reflected in a particular direction. Therefore, the light beam may be a bundle of light beams having a predetermined spread in a direction perpendicular to the propagation direction. The rays are preferably beam waist, Rayleigh length, or any other beam parameter, or one or more of a combination of beam parameters suitable for characterizing the beam diameter in space and / or the development of beam propagation, etc. There may be one or more Gaussian rays that may be characterized by one or more Gaussian beam parameters, and may include such Gaussian rays.

  As described above, when a plurality of optical sensors are specifically provided, it is preferable that at least one of these optical sensors is a transparent optical sensor. Thus, where a stack of optical sensors is provided, it is preferred that all and / or all of the optical sensors or all of the optical sensors except one and / or one of the stacks are transparent. As an example, if a stack of optical sensors is provided and is positioned along the optical axis of the detector, preferably all optical sensors except the last optical sensor furthest from the object are transparent optical It may be a sensor. The last optical sensor, that is, the optical sensor on the side of the stack not facing the object, may be a transparent optical sensor or an opaque optical sensor. Exemplary embodiments are shown below.

As outlined above, the optical sensor preferably comprises an organic photodetector such as an organic solar cell and / or sDSC. In order to provide a transparent optical sensor, the optical sensor may have two transparent electrodes. Accordingly, at least one first electrode and / or at least one second electrode of the optical sensor may preferably be wholly or partly transparent. Transparent conductive oxides (TCO) such as indium doped tin oxide (ITO) and / or fluorine doped tin oxide (FTO) may be used to provide a transparent electrode. As an addition or alternative to this, a metal layer such as a thin layer of one or more metals selected from the group consisting of Al, Ag, Au and Pt, such as a metal layer having a thickness of less than 50 nm, preferably less than 40 nm. It may be used. As an addition or alternative, a conductive organic material such as a conductive polymer may be used to assist connectivity. Thus, by way of example, one or more of the electrodes of the at least one optical sensor may include one or more transparent conductive polymers. As an example, the surface conductivity is at least 0.00001 S / cm, at least 0.001 S / cm, or at least 0.01 S / cm, preferably at least 0.1 S / cm, more preferably at least 1 S / cm, even at least One or more conductive polymer films of 10 S / cm, or at least 100 S / cm may be used. As an example, the at least one conductive polymer is doped with poly-3,4-ethylenedioxythiophene (PEDOT), preferably PEDOT electrically doped with at least one counter ion, more preferably sodium polystyrene sulfonate. PEDOT (PEDOT: PSS), polyaniline (PANI), and polythiophene may be selected. The conductive polymer preferably provides an electric resistance of 0.1 to 20 kΩ, preferably 0.5 to 5.0 kΩ, more preferably 1.0 to 3.0 kΩ between the partial electrodes. Also good. Generally, in the present specification, the conductive material, the electrical resistivity is less than 10 ^4, less than 10 ^3, less than 10 ^2, or may be a material of less than 10Omum. The conductive material preferably has an electrical resistivity of less than 10 ^−1, less than 10 ^−2, less than 10 ^−3, less than 10 ⁻⁵ , or less than 10 ⁻⁶ Ωm. Most preferably, the electrical resistivity of the conductive material is less than 5 × 10 ⁻⁷ Ωm or less than 1 × 10 ⁻⁷ Ωm, particularly in the range of electrical resistivity of aluminum.

  In general, the optical sensor may include any optical sensor having a plurality of pixels arranged in a matrix. As outlined above, for illustrative purposes only, the optical sensor comprises at least one organic material, preferably an organic solar cell, particularly preferably a dye solar cell or a dye sensitized solar cell, especially a solid dye solar cell or a solid dye sensitized. There may be provided at least one semiconductor detector comprising a solar cell, in particular an organic semiconductor detector. The optical sensor is preferably a DSC or sDSC or comprises a DSC or sDSC. Accordingly, the optical sensor comprises at least one first electrode, at least one n semiconductor metal oxide, at least one dye, at least one p semiconductor organic material, preferably a solid p semiconductor organic material, and at least one. And two second electrodes. In a preferred embodiment, the optical sensor comprises at least one DSC, more preferably at least one sDSC. As outlined above, the at least one optical sensor is preferably a transparent optical sensor or comprises at least one transparent optical sensor. Therefore, it is preferable that both the first electrode and the second electrode are transparent. When a plurality of optical sensors are provided, both the first electrode and the second electrode are transparent. Preferably, at least one of the optical sensors is designed. As outlined above, when a stack of optical sensors is provided, it is preferred that all optical sensors in the stack are transparent except for the last optical sensor furthest from the object. This last optical sensor may be transparent or opaque. In the latter case, the last optical sensor may be designed such that the electrode facing the object is transparent while the electrode not facing the object is opaque.

  As outlined above, the detector preferably has a plurality of optical sensors. More preferably, the plurality of optical sensors are stacked along the optical axis of the detector. Thereby, the optical sensor may comprise the optical sensor stack. The optical sensor stack may preferably be oriented so that the sensor area of the optical sensor is perpendicular to the optical axis. Thus, as an example, the sensor area or sensor surface of a series of optical sensors may be oriented in parallel, and slight angular tolerances are allowed, such as angular tolerances of 10 ° or less, preferably 5 ° or less. Also good.

  When optical sensors are stacked, the at least one lateral optical sensor may be arranged in whole or in part, preferably on the side of the stacked optical sensors facing the object. The at least one optional lateral optical sensor can be part of a sensor stack. In general, any other configuration can be realized. The optical sensors are preferably arranged such that at least one light beam traveling from the object to the detector preferably illuminates all the optical sensors in succession. In order to normalize the sensor signals of an optical sensor, if a series of longitudinal sensor signals are generated by one and the same light beam, the difference between these series of longitudinal sensor signals is generally different for each sensor of the series of optical sensors. The fact that it is due only to the difference in the cross-section of the rays at the position of the region may be used. In this way, by comparing a series of longitudinal sensor signals, information on the beam cross section may be generated even if the total power of the light beam is unknown.

  Furthermore, a known relationship between the beam cross-section of the light beam and the longitudinal coordinates of the beacon device is used in the evaluation device using the stack of optical sensors described above and the generation of a plurality of longitudinal sensor signals by these stacked optical sensors. The ambiguity may be resolved. This shows that for all beams, the beam cross-section narrows before reaching the focal point and then widens again, even if all or part of the beam characteristics of the light propagating from the beacon device to the detector are known. . This is also the case for Gaussian rays, for example. For this reason, before and after the focal point at which the beam cross section of the light beam becomes the narrowest, a position where the cross section of the light beam is the same appears along the propagation axis of the light beam. Thereby, as an example, the cross section of the light beam is the same at the distance z0 before and after the focal point. Thus, if only one optical sensor is used, a specific cross section of the light beam may be determined if the total power or intensity of the light beam is known. By using this information, the distance z0 from the focal point of each optical sensor may be determined. However, in order to determine whether each optical sensor is arranged before or after the focal point, the history of the movement of the object and / or the detector and / or information on whether the detector is arranged before or after the focal point, etc. Additional information may be required. In normal circumstances, this additional information may not be available. Therefore, additional information may be acquired by using a plurality of optical sensors to eliminate the above ambiguity. Therefore, by evaluating the longitudinal sensor signal, the evaluation apparatus recognizes that the beam cross section of the light beam on the first optical sensor is larger than the beam cross section of the light beam on the second optical sensor, If the second optical sensor is located behind the first optical sensor, the evaluation device determines that the light beam is still narrow and that the position of the first optical sensor is in front of the focal point of the light beam. May be. On the other hand, when the beam cross section of the light beam on the first optical sensor is smaller than the beam cross section of the light beam on the second optical sensor, the evaluation apparatus determines that the light beam has spread and the position of the second optical sensor. May be determined to be behind the focus. Thus, the evaluation device may generally be configured to recognize whether the light beam is expanding or narrowing by comparing the vertical sensor signals of different vertical sensors.

  The optical sensor stack may preferably comprise at least three optical sensors, more preferably at least four optical sensors, more preferably at least five optical sensors, and even at least six optical sensors. Even the beam profile of the light beam may be evaluated by tracking the longitudinal sensor signal of the optical sensor.

  In this specification, the beam cross section of a light beam at a specific position may be characterized by using the diameter of the light beam, that is, the beam waist of the light beam or twice the beam waist as follows. As outlined above, the at least one longitudinal sensor using a known relationship between the longitudinal position of the object and / or each beacon device, ie the beacon device emitting and / or reflecting the light beam, and the beam cross section By evaluating the signal, the longitudinal coordinates of the beacon device may be determined. As an example, as outlined above, a Gaussian relationship assuming that light rays propagate at least approximately Gaussian may be used. For this purpose, the light beam may be suitably shaped, such as by using an illumination light source that generates a light beam having a known propagation characteristic, such as a known Gaussian profile. For this reason, as known to those skilled in the art, the irradiation light source itself may generate a light beam having a known characteristic, for example, in the case of various lasers. In addition or as an alternative, the illumination source and / or detector may provide one or more lenses and / or one or more diaphragms, etc. to provide a light beam having known properties as will be appreciated by those skilled in the art. There may be one or more transmission devices, such as one or more beam shaping elements. Thus, by way of example, one or more transmission devices may be provided, such as one or more transmission devices with known beam shaping characteristics. In addition or as an alternative, the illumination source and / or detector, such as the at least one optional transmission device, is outside the excitation maximum of the at least one lateral optical sensor and / or the at least one optical sensor. There may be one or more wavelength selection elements such as one or more filters, such as one or more filter elements that remove wavelengths.

  Thus, the evaluation device generally knows the beam diameter of the light beam, preferably with respect to at least one propagation coordinate in the light propagation direction, by comparing the beam cross-section and / or diameter of the light beam with the known beam characteristics of the light beam. It may be configured to determine at least one piece of information about the longitudinal position of the object from the dependence and / or the known Gaussian profile of the rays.

  As outlined above, at least one optical sensor or pixelated sensor of the detector may be, by way of example, at least one organic optical sensor or may include at least one organic optical sensor. As an example, the at least one optical sensor may be at least one organic solar cell, such as at least one dye-sensitized solar cell (DSC), preferably at least one solid-state DSC or sDSC, such as An organic solar cell may be provided. Specifically, the at least one optical sensor may be or may include at least one optical sensor in which the sensor signal may exhibit an effect determined by photon density or photon flux. In a FiP sensor, assuming that the total power p of illumination is the same, the sensor signal i is generally determined by the photon flux F, that is, the number of photons per unit area. In other words, the at least one optical sensor is capable of providing a FiP sensor, i.e. a sensor signal, and is defined as an optical sensor having at least one sensor area, e.g. a plurality of sensor areas such as pixels. The sensor signal depends on the shape of the illumination, in particular the beam cross-section of the illumination on the sensor area, assuming that the total power of illumination of the sensor area by the light beam is the same. This effect, including possible embodiments of optical sensors that exhibit this effect (such as sDSC), is described in US Provisional Patent Application No. 61/90, filed on Dec. 19, 2012, WO 2012 / 110924A1. No. 739,173, U.S. Provisional Patent Application No. 61 / 749,964, filed Jan. 8, 2013, U.S. Provisional Patent Application No. 61/867, filed Aug. 19, 2013, No. 169 and International Patent Application No. PCT / IB2013 / 061095 filed on December 18, 2013, for more details. These prior art documents are all incorporated herein by reference, but embodiments of optical sensors that exhibit the FiP effect as disclosed in these documents are such that at least one of the optical sensors or the optical sensors is Except for the fact that it is pixelated, it can also be used as an optical sensor of the detector according to the present invention. Thus, the optical sensor used in one or more of the above prior art documents can be used in the background of the present invention in a pixelated manner. Pixelation may simply be achieved by suitable patterning of the first and / or second electrodes of these optical sensors. Therefore, each pixel of the pixelated optical sensor that exhibits the above-described FiP effect may itself constitute a FiP sensor.

  Therefore, the detector according to the present invention is specifically implemented as a pixelated FiP camera, ie, when at least one optical sensor or a plurality of optical sensors is provided, at least one of the optical sensors is implemented as a pixelated FiP sensor. All or part of the realized camera may be embodied. In the pixelated FiP camera, the photo may be recorded in the same manner as disclosed above in the configuration of the light irradiation field camera. Thus, the detector may comprise a stack of optical sensors, each embodied as a pixelated FiP sensor. In addition, photographs may be recorded at different distances from the lens. From these photographs, the depth can be calculated using techniques such as DFF and / or DFD.

  FiP measurement usually requires two or more FiP sensors such as an organic solar cell exhibiting the FiP effect. The photon density on the different batteries may be different so that the current ratio between the near-focus battery and the off-focus battery is at least 1/100. If this ratio is close to 1, the measurement may not be accurate.

  The at least one evaluation device may be specifically embodied to compare signals generated by pixels of different optical sensors arranged on a line parallel to the optical axis of the detector. The light cone of the light beam may correspond to a single pixel in the focal region. In a region out of focus, only a small portion of the light cone corresponds to the pixel. Thus, in a pixelated FiP sensor stack, the out-of-focus sensor pixel signal is typically much smaller than the in-focus sensor pixel signal. As a result, the signal ratio is improved. In order to calculate the distance between the object and the detector, three or more optical sensors may be used to further increase the accuracy.

  Thus, in general, the at least one optical sensor may comprise at least one stack of optical sensors each having at least one sensor region and capable of providing at least one sensor signal. Assuming that the total power of irradiation of the sensor area by the light beam is the same, it is determined by the shape of the irradiation, particularly the beam cross-section of the irradiation on the sensor area. By comparing at least one sensor signal generated by at least one pixel of the sensor with at least one sensor signal generated by at least one pixel of the second optical sensor of the optical sensors, Configured to determine the distance between the object and the detector and / or the z coordinate of the object It may be. The evaluation device may be further configured to evaluate the sensor signal of the pixel. Accordingly, one or more evaluation algorithms may be used. In addition or as an alternative, one or more, such as one or more lookup tables, including FiP sensor signal values or ratios thereof and corresponding z-coordinates of the object and / or corresponding distance between the object and the detector Other evaluation means such as using a lookup table may be used. In addition, by analyzing a plurality of FiP signals taking into account the distance to the lens and / or the distance between the optical sensors, information on light rays such as light spread and information on conventional FiP distances can be obtained.

  As outlined above, the present invention further relates to a man-machine interface for exchanging at least one information between a user and a machine. The proposed man-machine interface provides information and / or commands to a machine by one or more users using one or more of the detectors of one or more of the embodiments detailed above or below. You may make use of the fact that it is possible. Thus, the control command may be input preferably using a man-machine interface.

  Generally, herein, at least one location of a user may generally indicate one or more information about the location of the user and / or one or more body parts of the user. Thus, the user's location may suggest one or more information regarding the user's location, preferably provided by the detector evaluation device. The user, the user's body part, or the user's body parts can be considered as one or more objects whose position can be detected by at least one detection device. Here, strictly one detector may be provided, or a combination of a plurality of detectors may be provided. As an example, a plurality of detectors may be provided to determine the position of a plurality of body parts of the user and / or to determine the position of at least one body part of the user.

  The detector according to the invention comprising the at least one optical sensor and the at least one evaluation device may be further combined with one or more other types of sensors or detectors. Thus, the at least one optical sensor having a matrix of pixels (hereinafter also simply referred to as pixelated optical sensor and / or pixelated sensor) and the detector comprising the at least one evaluation device comprise at least one additional A detector may be further provided. The at least one additional detector is a parameter of the ambient environment, such as ambient temperature and / or brightness, a parameter relating to the position and / or orientation of the detector, the position of the object, eg the absolute position of the object in space And / or may be configured to detect at least one parameter, such as at least one of the parameters defining the state of the object to be detected, such as the orientation of the object. Therefore, in general, the principles of the present invention may be combined with other measurement principles to obtain additional information and / or check measurement results or reduce measurement errors or noise.

  In particular, the detector according to the invention comprises at least one time-of-flight type (ToF) configured to perform at least one time-of-flight measurement and detect at least one distance to at least one object. ) A detector may be further provided. In this specification, time-of-flight measurements are generally required for the time required for a signal to propagate between two objects or for the signal to propagate back from one object to a second object. Represents time-based measurements. In this case, the signal may specifically be one or more of electromagnetic signals such as acoustic signals or optical signals. As a result, a time-of-flight detector represents a detector configured to perform a time-of-flight measurement. Time-of-flight measurements are well known in various technical fields, such as commercially available distance measuring devices or commercially available flow meters such as ultrasonic flow meters. The time-of-flight detector can also be embodied as a time-of-flight camera. This type of camera is commercially available as a range image camera system that can analyze the distance between objects based on the known speed of light.

  Currently available ToF detectors are generally based on the use of pulse signals, optionally in combination with one or more optical sensors such as CMOS sensors. Moreover, the sensor signal produced | generated by the optical sensor may be integrated. This integration may start at two different times. The distance may be calculated from the relative signal strength between these two integration results.

  Furthermore, as outlined above, ToF cameras are known and can generally be used in the context of the present invention. These ToF cameras may include a pixelated light sensor. However, since it is generally necessary to perform two integrations at each pixel, the pixel configuration is generally very complex and the resolution of commercially available ToF cameras is quite low (typically 200 × 200 pixels). . Distances of less than about 40 cm and distances greater than a few meters are usually difficult or impossible to detect. Furthermore, the distance is ambiguous due to the periodicity of the pulses. This is because only the relative shift of the pulse within one period is measured.

  ToF detectors as stand-alone devices usually have various drawbacks and technical challenges. Thus, in general, ToF detectors, and more specifically ToF cameras, suffer from transparent objects such as rain in the light path. This is because the reflection of the pulse is too early, the object is hidden behind the raindrop, or the partial reflection leads to incorrect results due to integration. Furthermore, low-light conditions are preferred for ToF measurements in order to avoid measurement errors and allow clear distinction of pulses. In bright light such as bright sunlight, ToF measurement may be impossible. Furthermore, the energy consumption of a normal ToF camera is quite high. This is because the pulse needs to be bright enough so that it can be reflected back and still detected by the camera. However, the brightness of the pulse can be detrimental to the eye or other sensors, or can cause measurement errors if two or more ToF measurements interfere with each other. In summary, current ToF detectors, specifically current ToF cameras, have low resolution, ambiguity in distance measurement, limited use, limited light conditions, sensitivity to transparent objects in the light path, weather conditions There are several disadvantages, such as sensitivity to and high energy consumption. In general, these technical challenges reduce the ability of current ToF cameras for everyday applications, such as automotive safety applications, everyday cameras, or man-machine interfaces, specifically for gaming applications. .

  The advantages and capabilities of both systems may be beneficially combined with a detector according to the present invention having the at least one optical sensor including the above-described principles of evaluating the matrix of pixels and the number of illuminated pixels. Thus, while detectors provide advantages in bright light conditions, ToF detectors generally provide better results in low light conditions. Therefore, a detector according to the invention further comprising a combination device, ie at least one ToF detector, has a higher tolerance for light conditions compared to both single systems. This is particularly important for safety applications such as in cars or other vehicles.

  Specifically, the detector may be designed to correct at least one measurement made using the detector according to the invention by using at least one ToF measurement, and vice versa. It is. Furthermore, the ambiguity of ToF measurement may be resolved by using a detector. Specifically, whenever a ToF measurement analysis may be ambiguous, a measurement using a pixelated detector may be performed. In addition to or as an alternative, continuous measurement with a pixelated detector may extend the operating range of the ToF detector to a region that is typically excluded due to the ambiguity of the ToF measurement. Good. Also, as an addition or alternative, the pixelated detector may be able to measure distances over a wider area by accommodating a wider or additional range. Furthermore, a pixelated detector, specifically a pixelated camera, may be used to determine one or more measurement areas that are important for reducing energy consumption or protecting eyes. Accordingly, the pixelated detector may be configured to detect one or more regions of interest. In addition or as an alternative, the pixelated detector can be used to determine a coarse depth map of one or more objects in the scene that the detector acquires, wherein the coarse depth map is one or more It may be refined in an important region by a plurality of ToF measurements. Furthermore, the pixelated detector can be used to adjust a ToF detector, such as a ToF camera, to the required distance region. Thereby, by setting the pulse length and / or frequency of ToF measurement in advance, it becomes possible to remove or reduce the possibility of ambiguity in ToF measurement. Therefore, in general, by using a pixelated detector, automatic focusing of a ToF detector such as a ToF camera may be performed.

  As outlined above, the coarse depth map may be recorded by a pixelated detector such as a pixelated camera. Furthermore, a coarse depth map containing depth information or z information about one or more objects in the scene acquired by the detector may be refined using one or more ToF measurements. . Specifically, the ToF measurement may be performed only in an important region. In addition or as an alternative, the coarse depth map can be used to adjust a ToF detector, specifically a ToF camera.

  Further, by using a pixelated detector in combination with the at least one ToF detector, the sensitivity of the ToF detector to the nature of the object to be detected, such as sensitivity to rain or weather conditions, or between the detector and the object to be detected. The above-mentioned problems relating to the sensitivity of the ToF detector to obstacles or media in the optical path may be solved. By using combined pixelation / ToF measurement, extraction of important information from the ToF signal or measurement of complex objects with multiple transparent or translucent layers may be performed. In this way, glass objects, crystals, liquid structures, phase transitions, liquid motions, etc. may be observed. Furthermore, the combination of a pixelated detector and at least one ToF detector also works in the rain, and the entire detector is generally less dependent on weather conditions. As an example, by using the measurement result provided by the pixelated detector, an error caused by rain may be removed from the ToF measurement result, and specifically, an automobile or other vehicle, etc. This combination is useful for safety applications.

  Implementation of the at least one ToF detector for the detector according to the present invention may be implemented in various ways. Therefore, the at least one pixelated detector and the at least one ToF detector may be arranged side by side in the same optical path. As an example, at least one transparent pixelated detector may be arranged in front of at least one ToF detector. In addition or as an alternative, separate or split optical paths may be used for the pixelated detector and the ToF detector. Here, by way of example, the optical path may be separated by one or more beam splitting elements, such as one or more of the beam splitting elements listed above or in more detail below. As an example, the beam path may be separated by a wavelength selection element. Thereby, for example, the ToF detector may use infrared light, and the pixelated detector may use light of different wavelengths. In this example, the infrared light of the ToF detector may be separated by using a wavelength selective beam splitting element such as a hot mirror. In addition or as an alternative, the light used for measurement using the pixelated detector and the light used for ToF measurement may include one or more translucent mirrors, beam splitting cubes, polarizing beam splitters, or combinations thereof, etc. It may be separated by one or more beam splitting elements. Furthermore, the at least one pixelated detector and the at least one ToF detector may be arranged adjacent to each other in the same device using different optical paths. Various other configurations are also possible.

  The at least one optional ToF detector can basically be combined with any of the embodiments of the detector according to the invention. Specifically, the at least one ToF detector may be a single ToF detector or a ToF camera, but can be combined with a plurality of optical sensors such as a single optical sensor or sensor stack. Furthermore, the detector comprises one or more imaging devices, such as one or more inorganic imaging devices such as CCD chips and / or CMOS chips, preferably one or more full-color CCD chips or full-color CMOS chips. Also good. In addition or as an alternative, the detector may further comprise one or more thermographic cameras.

  As outlined above, the man-machine interface may comprise a plurality of beacon devices configured for at least one of direct or indirect attachment to the user and retention by the user. Thus, each beacon device may be independently attached to the user by any suitable means such as a suitable securing device. In addition or as an alternative, the user can hold at least one beacon device or one or more of the beacon devices and / or carry it in the hand and / or of clothing comprising at least one beacon device and / or beacon device. You may make it carry by wearing to a body part.

  A beacon device may generally be any device that can be detected by at least one detector and / or any device that facilitates detection by at least one detector. Thus, as outlined above or in more detail below, the beacon device is adapted to generate at least one beam that the detector detects, such as by having one or more illumination sources that generate at least one beam. The active beacon device may be configured as follows. In addition or as an alternative, the beacon device is designed in whole or in part as a passive beacon device, such as by providing one or more reflective elements configured to reflect light generated by a separate illumination source. May be. The at least one beacon device may be adapted to be directly or indirectly attached to the user and / or carried or held by the user permanently or temporarily. Further, the user may use one or a plurality of attachment means and / or attachment by the user himself such as holding at least one beacon device by the user's hand and / or wearing the beacon device by the user.

  As an addition or alternative, the beacon device may be adapted to be attached and / or incorporated into an object held by the user, which in the sense of the invention means that the user holds the beacon device. It shall be included in the meaning of the option. Thus, as outlined in more detail below, the beacon device may be attached to a control element that can be held or carried by the user as part of a man-machine interface and whose detection device can recognize its orientation, It may be incorporated. For this reason, the present invention generally comprises at least one detection device according to the invention and can further comprise at least one object, wherein the beacon device is attached to the object, held by the object, or to the object. Reference is also made to a detection system in which at least one of the integrations is performed. As an example, the object may preferably constitute a control element that allows the user to recognize its orientation. Thus, the detection system may be part of a man-machine interface, as outlined above or in more detail below. As an example, a user may send one or more information to the machine, such as sending one or more commands to the machine, by handling the control element in a particular way.

  Alternatively, the detection system may be used in other ways. Thereby, as an example, the object of the detection system may be different from the user or the body part of the user, and may be an object that moves independently of the user, as an example. As an example, the detection system may be used to control equipment and / or industrial processes such as manufacturing processes and / or robotic processes. Thus, as an example, the object may be part of a machine such as a machine and / or a robot arm capable of detecting orientation using a detection system.

  The man-machine interface may be configured such that the detection device generates at least one piece of information regarding the location of the user or at least one body part of the user. Specifically, if the manner of attachment of the at least one beacon device to the user is known, the position and / or orientation of the user or the user's body part is evaluated by evaluating the position of the at least one beacon device. At least one piece of information may be obtained.

  The beacon device is preferably one of a beacon device that can be attached to the user's body or body part and a beacon device that can be held by the user. As outlined above, the beacon device may be designed in whole or in part as an active beacon device. Thereby, the beacon device may comprise at least one illumination light source configured to generate at least one light beam that is transmitted to the detector, preferably at least one light beam having a known beam characteristic. In addition or as an alternative, the beacon device may comprise at least one reflector configured to reflect the light generated by the illumination source to generate a reflected beam that is transmitted to the detector.

  Objects that can form part of the detection system may generally have any shape. As outlined above, the object that is part of the detection system may be a control element that can be handled by the user, preferably manually or the like. As an example, the control element is at least one element selected from the group consisting of a glove, a jacket, a hat, shoes, trousers, and a suit, a walking stick, a bat, a club, a racket, a walking stick, a toy such as a model gun, and the like. Or may include such an element. Thus, as an example, the detection system may be part of a man-machine interface and / or entertainment device.

  As used herein, an entertainment device is a device that may be adapted for the leisure and / or entertainment purposes of one or more users, also referred to below as one or more players. As an example, the entertainment device may be adapted for the purpose of a game, preferably a computer game. Thus, the entertainment device may be implemented on a computer, computer network, or computer system, or may include a computer, computer network, or computer system that operates one or more game software programs.

  The entertainment device comprises at least one man machine interface according to the present invention, such as one or more of the embodiments disclosed above and / or one or more of the embodiments disclosed below. The entertainment device is designed to allow a player to input at least one piece of information through a man-machine interface. The at least one information may be transmitted to a controller and / or computer of the entertainment device and / or used by the controller and / or computer of the entertainment device.

  The at least one information may include at least one command that is preferably configured to influence the outcome of the game. Thus, by way of example, the at least one information includes at least one information regarding at least one orientation of the player and / or one or more body parts of the player, thereby providing a specific position and The player can simulate the orientation and / or movement. As an example, one or more movements such as dancing, running, jumping, racket swing, bat swing, club swing, orientation of another object by an object, for example target orientation by a model gun, are simulated, and the entertainment device It may be communicated to the controller and / or the computer.

  Part or all of the entertainment device, preferably the controller and / or computer of the entertainment device, is designed to change the entertainment function according to this information. Therefore, as described above, the outcome of the game may be affected according to the at least one piece of information. Accordingly, the entertainment device comprises one or more controllers that are separable from the evaluation device of the at least one detector and / or may include all or part of the evaluation device in whole or in part or at least one evaluation device. You may do it. The at least one controller may comprise one or more data processing devices, preferably one or more computers and / or microcontrollers.

  Further herein, a tracking system is an apparatus configured to collect information regarding a past series of positions of at least one object and / or at least one portion of an object. The tracking system may also be configured to provide information regarding at least one future predicted position and / or orientation of at least one object or at least one portion of the object. The tracking system may comprise at least one tracking controller that may be embodied in whole or in part as an electronic device, preferably at least one data processing device, more preferably at least one computer or microcontroller. Further, the at least one tracking control device includes all or part of the at least one evaluation device, and / or is part of the at least one evaluation device, and / or the at least one evaluation device. It can be the same as all or part of the device.

  The tracking system comprises at least one detector according to the invention, such as one or more of the above-described embodiments and / or at least one detector disclosed in one or more of the following embodiments. Prepare. The tracking system further comprises at least one tracking controller. The tracking controller is configured to track a series of positions of an object at a particular point in time, such as by recording a data group or data pair each containing at least one position information and at least one time information.

  The tracking system may further comprise at least one detection system according to the present invention. Thus, in addition to at least one detector, at least one evaluator, and optionally at least one beacon device, the tracking system may include objects such as the beacon device or at least one control element including at least one beacon device. It may further comprise itself or part of an object, and this control element can be attached or incorporated directly or indirectly to the object to be tracked.

  The tracking system may be configured to initiate one or more operations of the tracking system itself and / or one or more separate devices. For the latter purpose, the tracking system, preferably the tracking controller, may have one or more wireless and / or wired interfaces and / or other types of control connections that initiate at least one operation. Good. The at least one tracking controller may be configured to initiate at least one movement, preferably according to at least one actual position of the object. As an example, this action may be selected from the group consisting of predicting the future position of an object, directing the object by at least one device, directing the detector by at least one device, illuminating the object, illuminating the detector. It may be.

  As an example of the use of a tracking system, the tracking system may be configured such that the second object is moved by the first object even when at least one first object and / or at least one second object moves. Can be used to continuously orient. In addition, there are possible examples when industrial work such as robots and / or when an article is moved continuously during production on a production line or an assembly line, etc., when the work is continuously performed on the article. In addition or as an alternative, the tracking system is used for illumination purposes, such as when the object is continuously directed by an illumination light source even when the object is moving, such as when the object is continuously illuminated. You may do it. Another application is also found in communication systems, such as directing information to a moving object by directing the moving object with a transmitter.

  The optional transmission device can be designed to supply light propagating from the object to the detector, preferably continuously, to the optical sensor as described above. As described above, this supply can optionally be realized by the imaging or non-imaging characteristics of the transmission device. In particular, the transmission device can also be designed to collect electromagnetic radiation before supply to the optical sensor. In addition, all or part of the optional transmission device may be a light beam having a defined optical characteristic, such as a defined or precisely known beam profile, such as at least one Gaussian beam, as described in more detail below. In particular, it can be a component of at least one optional illumination source designed to provide at least one laser beam having a known beam profile.

  Reference is made to WO 2012/110924 A1 for possible embodiments of the optional illumination source. Furthermore, other embodiments are possible. Light exiting from an object can originate from the object itself, but optionally has another origin, propagates from this origin to the object, and then to a lateral and / or longitudinal optical sensor. It is also possible to make it go. The latter case can be realized by using at least one irradiation light source, for example. This irradiation light source can be, for example, an environmental irradiation light source and / or an artificial irradiation light source, and can also include such a light source. As an example, the detector itself comprises at least one laser and / or at least one incandescent lamp and / or at least one light emitting diode, in particular at least one semiconductor illumination source such as an organic and / or inorganic light emitting diode. An illumination light source can be provided. The use of one or more lasers is particularly preferred as the illumination source or part thereof, since the beam profile and other handling characteristics are largely defined. The irradiation light source itself can be a component of the detector or can be configured independently of the detector. The illumination light source can also be incorporated in particular in a detector, for example a housing of the detector. Also as an alternative or addition, the at least one illumination light source is capable of being incorporated into or connected to or spatially coupled to at least one beacon device or one or more of the beacon devices and / or objects.

  Thus, the light exiting the beacon device can alternatively or additionally be emitted from the illumination source and / or excited by the illumination source, optionally with the light originating from each beacon device itself. As an example, electromagnetic light exiting a beacon device can be provided to a detector after emission by the beacon device itself and / or reflection by the beacon device and / or scattering by the beacon device. In this case, the emission and / or scattering of electromagnetic radiation can be achieved without or with the influence of the spectrum of electromagnetic radiation. Thus, as an example, a wavelength shift due to, for example, Stokes or Raman may occur during scattering. Furthermore, the emission of light can be excited, for example, by the main illumination light source, for example by the emission of light, in particular phosphorescence and / or fluorescence, by excitation of the object or a partial region of the object. In principle, other release processes are possible. When reflection occurs, the object can have, for example, at least one reflective area, in particular at least one reflective surface. The reflective surface can be part of the object itself, but can also be a reflector connected to or spatially coupled to the object, such as a reflector connected to the object. If at least one reflector is used, it can also be considered as part of the detector connected to an object, for example independent of other components of the detector.

  The beacon device and / or the at least one optional illumination source are generally independent of each other, generally in the ultraviolet spectral range (preferably in the range of 200 nm to 380 nm), visible spectral range (380 nm to 780 nm), infrared spectrum. At least one light in the range (preferably in the range of 780 nm to 3.0 micrometers) may be emitted. The at least one illumination light source is most preferably configured to emit light in the visible spectral range, preferably in the range of 500 nm to 780 nm, most preferably 650 nm to 750 nm or 690 nm to 700 nm.

  The supply of light to the optical sensor can be realized in particular such that a light spot having a cross-section of, for example, a circle, an oval or a different configuration is generated in the optional sensor area of the optical sensor. As an example, the detector can have a visibility, in particular a solid angle range and / or a spatial range, in which an object can be detected. The optional transmission device is designed so that the light spot is completely located in the sensor area and / or sensor area of the optical sensor, for example in the case of an object located within the visibility of the detector Is preferred. As an example, the sensor area can be selected to have a corresponding size that guarantees this condition.

  The evaluation device can in particular comprise at least one data processing device, in particular an electronic data processing device, which can be designed to generate at least one information relating to the position of the object. Thus, the evaluation device is designed to generate at least one piece of information about the position of the object by using the illuminated pixels of the optical sensor or the number of each optical sensor as input variables and processing these input variables. It may be. This process can be executed in parallel, continuously, or in combination. The evaluation device may use any process that generates these information, such as by calculation and / or use of at least one storage and / or known relationship. This relationship can be a predetermined analytical relationship, or can be empirically, analytically, or semi-empirically determined or determined. In particular, this relationship preferably includes at least one calibration curve, at least one calibration curve set, at least one function, or a combination of these possibilities. For example, the data store and / or table can store one or more calibration curves, for example in the form of value sets and their associated function values. However, as an alternative or in addition, the at least one calibration curve can also be stored, for example, in parameterized form and / or as a functional equation.

  As an example, the evaluation device can be designed with respect to programming for determining information. The evaluation device can in particular comprise at least one computer, such as at least one microcomputer. Furthermore, the evaluation device can comprise one or more volatile or non-volatile data memories. As an alternative or addition to a data processing device, in particular at least one computer, the evaluation device may determine information such as an electronic table, in particular at least one look-up table and / or at least one application specific integrated circuit (ASIC). Can be provided with one or more other electronic components designed.

  In general, the following embodiments are considered suitable in the context of the invention.

Embodiment 1: A detector for determining the position of at least one object comprising:
At least one optical sensor, configured to detect light traveling from an object to the detector, and having at least one matrix of pixels;
At least one evaluation device configured to determine an intensity distribution of pixels of the optical sensor illuminated by the light beam, and further using the intensity distribution to determine at least one longitudinal coordinate of the object A configured evaluation device;
With a detector.

Embodiment 2: The detector according to embodiment 1, wherein the evaluation device is configured to determine the longitudinal coordinates of the object by using a predetermined relationship between the intensity distribution and the longitudinal coordinates.

Embodiment 3: The intensity distribution is
The intensity as a function of the lateral position of each pixel in a plane perpendicular to the optical axis of the optical sensor,
Intensity as a function of pixel coordinates,
# Distribution of the number of pixels with a certain intensity as a function of intensity,
Embodiment 3. The detector of embodiment 1 or 2, comprising one or more of the above.

Embodiment 4: The detector according to any one of Embodiments 1 to 3, wherein the intensity distribution approximates the intensity distribution of irradiation with Gaussian rays.

Embodiment 5: The detector according to any one of Embodiments 1 to 4, wherein the evaluation device is configured to determine at least one intensity distribution function approximating the intensity distribution.

Embodiment 6: The evaluation device determines a longitudinal coordinate of an object by using a predetermined relationship between the longitudinal coordinate and the intensity distribution function and / or at least one parameter derived from the intensity distribution function. The detector according to embodiment 5 configured as described above.

Embodiment 7: The detector according to embodiment 5 or 6, wherein the intensity distribution function is a beam shape function of the light beam.

Embodiment 8: Detection according to any one of Embodiments 5-7, wherein the intensity distribution function comprises a two-dimensional or three-dimensional mathematical function approximating intensity information contained in at least some of the pixels of the optical sensor. vessel.

Embodiment 9: The detector of embodiment 8, wherein the two-dimensional or three-dimensional mathematical function comprises a function of at least one pixel coordinate of a matrix of pixels.

Embodiment 10: A pixel position of a pixel of a matrix is defined by (x, y) where x and y are pixel coordinates, and a two-dimensional or three-dimensional mathematical function is f (x), f (y), f ( Embodiment 10. The detector of embodiment 8 or 9, comprising one or more functions selected from the group consisting of x, y).

Embodiment 11: A group in which a two-dimensional or three-dimensional mathematical function is a bell-shaped function, Gaussian distribution function, Bessel function, Hermitian-Gaussian function, Laguerre-Gaussian function, Lorentz distribution function, binomial distribution function, Poisson distribution function The detector according to any one of embodiments 8-10, selected from:

Embodiment 12: configured to determine the intensity distribution in a plurality of planes, preferably configured to determine the intensity distribution for each plane, the plane preferably being perpendicular to the optical axis of the detector, the plurality 12. The detector according to any one of embodiments 1-11, wherein the planes are preferably offset from one another along the optical axis.

Embodiment 13: A detector according to embodiment 12, comprising a plurality of optical sensors, specifically a stack of optical sensors.

Embodiment 14: The embodiment 12 or 13 wherein the evaluation device is configured to determine a longitudinal coordinate of the object by evaluating a change in intensity distribution as a function of the longitudinal coordinate along the optical axis. Detector.

Embodiment 15: The evaluation device is configured to determine a plurality of intensity distribution functions each approximating an intensity distribution in one of the planes, and derives longitudinal coordinates of the object from the plurality of intensity distribution functions. 15. The detector according to any one of embodiments 12-14, further configured as described above.

Embodiment 16: The detector of embodiment 15, wherein each of the intensity distribution functions is a beam shape function of a ray in each plane.

Embodiment 17: The detector of embodiment 15 or 16, wherein the evaluation device is configured to derive at least one beam parameter from each intensity distribution function.

Embodiment 18: Embodiment 17 wherein the evaluation device is configured to determine a longitudinal coordinate of the object by evaluating a change in the at least one beam parameter as a function of the longitudinal coordinate along the optical axis. Detector.

Embodiment 19: The detector of embodiment 17 or 18, wherein the at least one beam parameter is selected from the group consisting of a beam diameter, a beam waist, and a Gaussian beam parameter.

Embodiment 20: Any one of Embodiments 17-19, wherein the evaluation device is configured to determine the longitudinal coordinates of the object by using a predetermined relationship between the beam parameters and the longitudinal coordinates. Detector.

Embodiment 21: The detector according to any one of Embodiments 1 to 20, wherein the optical sensor is configured to generate at least one signal indicative of the illumination intensity of each pixel.

Embodiment 22: Embodiments 13-21, wherein the evaluation device is configured to determine, for each pixel, whether the pixel is an illuminated pixel by comparing the signal to at least one threshold. The detector according to any one of the above.

Embodiment 23: The detector of embodiment 22, wherein the evaluation device is configured to determine at least one pixel of the maximum illumination of the pixels by comparing the signals of the pixels.

Embodiment 24: The detector of embodiment 23, wherein the evaluation device is further configured to select a threshold as a percentage of the signal of at least one pixel of maximum illumination.

Embodiment 25: The detector of embodiment 24, wherein the evaluation device is configured to select a threshold value by multiplying a signal of at least one pixel of maximum illumination by a factor 1 / e ² .

Embodiment 26: The determination of the intensity distribution includes the determination of the number N of pixels of the optical sensor illuminated by the light beam, and the determination of the at least one longitudinal coordinate of the object uses the number N of pixels illuminated by the light beam. Embodiment 26. A detector according to any one of embodiments 1 to 25, comprising:

Embodiment 27: Embodiment 26, wherein the evaluation device is configured to determine the longitudinal coordinates of the object by using a predetermined relationship between the number N of pixels illuminated by the light rays and the longitudinal coordinates. Detector.

Embodiment 28: The detector of embodiment 27, wherein the predetermined relationship is based on the assumption that the light beam is a Gaussian light beam.

であって、
ここで、ｚは、縦方向座標であり、
ｗ_０は、光線が空間中を伝搬する際の最小ビーム半径であり、
ｚ_０は、光線のレイリー長であって、ｚ_０＝π・ｗ_０ ^２／λであるとともに、λは光線の波長である、実施形態２７または２８に記載の検出器。 Embodiment 29: The predetermined relationship is

Because
Where z is the vertical coordinate,
w ₀ is the minimum beam radius at which a ray propagates through space,
29. A detector according to embodiment 27 or 28, wherein z ₀ is the Rayleigh length of the ray, z ₀ = π · w ₀ ² / λ, and λ is the wavelength of the ray.

Embodiment 30: The detector according to any one of Embodiments 1 to 29, wherein the matrix of pixels is a two-dimensional matrix.

Embodiment 31: The detector according to any one of Embodiments 1 to 30, wherein the matrix of pixels is a rectangular matrix.

Embodiment 32: The detector according to any one of Embodiments 1 to 31, comprising a plurality of optical sensors.

Embodiment 33: A detector according to embodiment 32, wherein the optical sensors are stacked along the optical axis of the detector.

Embodiment 34: comprising n optical sensors, where n is preferably a positive integer, and the evaluation device is configured to determine the number N _i of pixels illuminated by the light beam for each optical sensor 34. The detector of embodiment 32 or 33, wherein iε {1, n} indicates each optical sensor.

Embodiment 35: The evaluation apparatus resolves the ambiguity of the longitudinal coordinate of an object by comparing the number N _i of pixels irradiated by light rays with at least one adjacent optical sensor for each optical sensor. 35. A detector according to any one of embodiments 32-34, configured.

Embodiment 36: The detector of any one of Embodiments 32-35, wherein the evaluation device is configured to normalize the sensor signal of the optical sensor with respect to the power of the light beam.

Embodiment 37: A detector according to any one of embodiments 32-36, wherein at least one of the optical sensors is transparent.

Embodiment 38: At least two of the optical sensors have different spectral sensitivities, and the evaluation device is configured to determine the color of the light beam by comparing sensor signals of optical sensors having different spectral sensitivities. The detector according to any one of Embodiments 32-37.

Embodiment 39: Any one of Embodiments 1-38, wherein the evaluation device is further configured to determine at least one lateral coordinate of the object by determining a position of the ray on the matrix of pixels. Detector.

Embodiment 40: The evaluation device is configured to determine a center of illumination of the matrix with light rays, and at least one lateral coordinate of the object is determined by evaluating at least one coordinate of the center of illumination. 40. A detector according to embodiment 39.

Embodiment 41: The detector of embodiment 40, wherein the coordinates of the center of illumination are pixel coordinates of the center of illumination.

Embodiment 42: The detector according to any one of embodiments 39 to 41, wherein the evaluation device is configured to provide at least one three-dimensional position of the object.

Embodiment 43: The detector according to any one of embodiments 40-42, wherein the evaluation device is configured to provide at least one three-dimensional image of the scene acquired by the detector.

Embodiment 44: The detector of any one of Embodiments 1 to 43, further comprising at least one transmission device configured to guide the light beam onto the optical sensor.

Embodiment 45: The detector according to embodiment 44, wherein the transmission device has imaging properties.

Embodiment 46: A detector according to embodiment 44 or 45, wherein the transmission device comprises at least one element selected from the group consisting of a lens, a mirror, a prism, a wavelength selection element, a diaphragm.

Embodiment 47: A detector according to any one of embodiments 1 to 46, wherein the optical sensor comprises at least one organic photovoltaic device.

Embodiment 48: The detector of any one of embodiments 1-47, wherein the optical sensor comprises at least one dye-sensitized solar cell having at least one patterned electrode.

Embodiment 49: An optical sensor comprises at least one first electrode, at least one second electrode, and at least one photosensitive layer embedded between the first electrode and the second electrode. 49. A detector according to any one of embodiments 1-48.

Embodiment 50: The first electrode includes a plurality of first electrode stripes, the second electrode includes a plurality of second electrode stripes, and the first electrode stripe is in relation to the second electrode stripe. 50. The detector of embodiment 49, wherein the detector is vertically oriented.

Embodiment 51: An optical sensor comprises at least one first electrode, at least one n-semiconductor metal oxide, at least one dye, at least one p-semiconductor organic material, preferably a solid p-semiconductor organic material, At least one second electrode, wherein the at least one n-semiconductor metal oxide, at least one dye, and at least one p-semiconductor organic material are embedded between the first electrode and the second electrode. The detector according to any one of Embodiments 1 to 50.

Embodiment 52: The detector of embodiment 51, wherein both the first electrode and the second electrode are transparent.

Embodiment 53: The detector of embodiment 51 or 52, wherein at least one of the first electrode and the second electrode is a patterned electrode.

Embodiment 54: The first electrode includes a plurality of first electrode stripes, the second electrode includes a plurality of second electrode stripes, and the first electrode stripe is in relation to the second electrode stripe. Embodiment 54. The detector according to any one of embodiments 51-53, oriented vertically.

Embodiment 55: A detector according to any one of embodiments 51 to 54, wherein at least one of the first electrode and the second electrode comprises a conductive polymer.

Embodiment 56: A detector according to any one of embodiments 1 to 55, comprising at least one stack of optical sensors and configured to acquire a three-dimensional image of a scene in the field of view of the detector. .

Embodiment 57: The detector of embodiment 56, wherein the optical sensors of the stack have different spectral characteristics.

Embodiment 58: The stack comprises at least one first optical sensor having a first spectral sensitivity and at least one second optical sensor having a second spectral sensitivity, wherein the first spectral sensitivity and the first 58. The detector of embodiment 57, wherein the spectral sensitivity of 2 is different.

Embodiment 59: A detector according to embodiment 57 or 58, wherein the stack comprises optical sensors with alternating spectral characteristics.

Embodiment 60: Any one of Embodiments 57-59 configured to obtain a multi-color three-dimensional image, preferably a full-color three-dimensional image, by evaluating sensor signals of optical sensors having different spectral characteristics. Detector.

Embodiment 61: Further comprising at least one time-of-flight detector configured to detect at least one distance between at least one object and the detector by performing at least one time-of-flight measurement 61. The detector according to any one of embodiments 1-60, comprising:

Embodiment 62: The at least one optical sensor includes at least one sensor area and includes at least one optical sensor capable of providing at least one sensor signal, wherein the sensor signal is a total of illumination of the sensor area by the light beam. The detector of any one of embodiments 1-61, assuming the power is the same, depending on the shape of the illumination, particularly the beam cross-section of the illumination on the sensor area.

Embodiment 63: The at least one optical sensor comprises at least one stack of optical sensors each having at least one sensor area and capable of providing at least one sensor signal, wherein the sensor signal is a sensor area by a light beam. Assuming that the total power of illumination is the same, it depends on the shape of the illumination, in particular the beam cross section of the illumination on the sensor area, and the evaluation device is based on at least one pixel of the first optical sensor of the optical sensors. Any of embodiments 1-62, configured to compare the generated at least one sensor signal with at least one sensor signal generated by at least one pixel of the second optical sensor of the optical sensors. The detector according to any one of the above.

Embodiment 64: A detection system for determining the position of at least one object, comprising at least one detector according to any one of embodiments 1 to 63 and guiding at least one light beam to the detector A detection system further comprising at least one beacon device configured to, wherein the beacon device is capable of at least one of attachment to the object, retention by the object, and incorporation into the object.

Embodiment 65: The detection system of embodiment 64, wherein the beacon device comprises at least one illumination source.

Embodiment 66: The detection system of embodiment 64 or 65, wherein the beacon device comprises at least one reflector configured to reflect chief rays emitted by the illumination source independently of the object.

Embodiment 67: The detection system according to any one of embodiments 64-66, comprising at least two beacon devices, preferably at least three beacon devices.

Embodiment 68: The detection system according to any one of Embodiments 64-67, further comprising the at least one object.

Embodiment 69: The detection system of embodiment 68, wherein the object is a rigid object.

Embodiment 70: The embodiment 68 or 69, wherein the object is selected from the group consisting of sports equipment, clothing, a hat, shoes, preferably an article selected from the group consisting of a racket, a club, a bat. Detection system.

Embodiment 71 A man-machine interface for exchanging at least one information between a user and a machine, comprising at least one detection system according to any one of embodiments 64-70, wherein said at least one The beacon device is configured to be at least one of direct or indirect attachment to the user and held by the user so that the man-machine interface determines at least one location of the user by the detection system A man-machine interface designed to assign at least one piece of information to the location.

Embodiment 72: An entertainment device for performing at least one entertainment function, comprising at least one man-machine interface as described in embodiment 71, wherein the man-machine interface allows a player to input at least one information. An entertainment device designed and designed to change entertainment functions according to the information.

Embodiment 73: A tracking system for tracking the position of at least one movable object, comprising at least one detection system as described in any one of embodiments 64-70, and further comprising at least one tracking controller. A tracking system, wherein the tracking controller is configured to track a series of positions of an object at a particular point in time.

Embodiment 74: A camera for imaging at least one object, comprising the at least one detector according to any one of Embodiments 1 to 63.

Embodiment 75: A method for determining the position of at least one object comprising:
At least one detection step, wherein at least one light beam traveling from the object to the detector is detected by at least one optical sensor of the detector, the at least one optical sensor having at least one matrix of pixels , Steps and
At least one evaluation step, wherein an intensity distribution of the pixels of the optical sensor illuminated by the light beam is determined, and using the intensity distribution, at least one longitudinal coordinate of the object is determined;
Including a method.

Embodiment 76: The method of embodiment 75, wherein the longitudinal coordinates of the object are determined using a predetermined relationship between the intensity distribution and the longitudinal coordinates.

Embodiment 77: The intensity distribution is
The intensity as a function of the lateral position of each pixel in a plane perpendicular to the optical axis of the optical sensor,
Intensity as a function of pixel coordinates,
# Distribution of the number of pixels with a certain intensity as a function of intensity,
The method of embodiment 75 or 76, comprising one or more of the following.

Embodiment 78: The method of any one of embodiments 75 to 77, wherein the intensity distribution approximates the intensity distribution of irradiation with Gaussian rays.

Embodiment 79: The method of any one of Embodiments 75 through 78, wherein at least one intensity distribution function approximating the intensity distribution is determined.

Embodiment 80: Embodiment 79 wherein the longitudinal coordinates of the object are determined using a predetermined relationship between the longitudinal coordinates and the intensity distribution function and / or at least one parameter derived from the intensity distribution function. The method described in 1.

Embodiment 81: A method according to embodiment 79 or 80, wherein the intensity distribution function is a beam shape function of the light beam.

Embodiment 82: A method according to any one of embodiments 79 to 81, wherein the intensity distribution comprises a two-dimensional or three-dimensional mathematical function approximating intensity information contained in at least some of the pixels of the optical sensor.

Embodiment 83: The method of embodiment 82, wherein the two-dimensional or three-dimensional mathematical function comprises a function of at least one pixel coordinate of a matrix of pixels.

Embodiment 84: A pixel position of a pixel of a matrix is defined by (x, y) where x and y are pixel coordinates, and a two-dimensional or three-dimensional mathematical function is f (x), f (y), f ( 84. The method according to embodiment 82 or 83, comprising one or more functions selected from the group consisting of x, y).

Embodiment 85: A two-dimensional or three-dimensional mathematical function is a bell-shaped function, Gaussian distribution function, Bessel function, Hermitian-Gaussian function, Laguerre-Gaussian function, Lorentz distribution function, binomial distribution function, Poisson distribution function, or these 85. Any of the embodiments 82-84, comprising at least one mathematical function selected from the group consisting of at least one derivative comprising one or more of the functions, at least one linear combination, or at least one product. The method according to any one of the above.

Embodiment 86: The intensity distribution is determined in a plurality of planes, preferably the intensity distribution is determined for each plane, the plane preferably being perpendicular to the optical axis of the detector, the plurality of planes being preferably the optical axis The method according to any one of embodiments 75-85, wherein the method is offset from each other along.

Embodiment 87: A method according to embodiment 86, wherein the detector comprises a plurality of optical sensors, specifically a stack of optical sensors.

Embodiment 88: The method of embodiment 86 or 87, wherein the longitudinal coordinates of the object are determined by determining the change in intensity distribution as a function of the longitudinal coordinates along the optical axis.

Embodiment 89: Embodiments 86-88, wherein a plurality of intensity distribution functions each approximating an intensity distribution in one of the planes are determined, and further the longitudinal coordinates of the object are derived from the plurality of intensity distribution functions. The method as described in any one of these.

Embodiment 90: The method of embodiment 89, wherein each of the intensity distribution functions is a beam shape function of rays in each plane.

Embodiment 91: A method according to embodiment 89 or 90, wherein at least one beam parameter is derived from each intensity distribution function.

Embodiment 92: The method of embodiment 91, wherein the longitudinal coordinate of the object is determined by determining a change in the at least one beam parameter as a function of the longitudinal coordinate along the optical axis.

Embodiment 93: The method of embodiment 91 or 92, wherein the at least one beam parameter is selected from the group consisting of a beam diameter, a beam waist, and a Gaussian beam parameter.

Embodiment 94: The method according to any one of Embodiments 91 to 93, wherein the longitudinal coordinates of the object are determined using a predetermined relationship between the beam parameters and the longitudinal coordinates.

Embodiment 95: A method according to any one of embodiments 75 to 94, wherein the optical sensor generates at least one signal indicative of the illumination intensity of each pixel.

Embodiment 96: The method of embodiment 95, wherein in the evaluating step, for each pixel, it is determined whether the pixel is an illuminated pixel by comparing the signal with at least one threshold.

Embodiment 97: The method of embodiment 96, wherein, in the evaluating step, at least one pixel of the maximum illumination of the pixels is determined by comparing the signals of the pixels.

Embodiment 98: A method according to embodiment 97, wherein a threshold is selected as a proportion of the signal of at least one pixel of maximum illumination.

Embodiment 99: threshold by multiplying the coefficient 1 / e ² in at least one pixel signal of the maximum exposure is selected, method of embodiment 98.

Embodiment 100: The determination of the intensity distribution includes the determination of the number N of pixels of the optical sensor illuminated by the light beam, and the determination of the at least one longitudinal coordinate of the object uses the number N of pixels illuminated by the light beam. 99. The method of any one of embodiments 75-99, comprising:

Embodiment 101: The method of embodiment 100, wherein the longitudinal coordinates of the object are determined using a predetermined relationship between the number N of pixels illuminated by the light rays and the longitudinal coordinates.

Embodiment 102: The method of embodiment 101, wherein the predetermined relationship is based on an assumption that the light beam is a Gaussian light beam.

であって、
ここで、ｚは、縦方向座標であり、
ｗ_０は、光線が空間中を伝搬する際の最小ビーム半径であり、
ｚ_０は、光線のレイリー長であって、ｚ_０＝π・ｗ_０ ^２／λであるとともに、λは光線の波長である、実施形態１０１または１０２に記載の方法。 Embodiment 103: The predetermined relationship is

Because
Where z is the vertical coordinate,
w ₀ is the minimum beam radius at which a ray propagates through space,
103. The method of embodiment 101 or 102, wherein z ₀ is the Rayleigh length of the light beam, z ₀ = π · w ₀ ² / λ, and λ is the wavelength of the light beam.

Embodiment 104: A method according to any one of embodiments 75 to 103, wherein the matrix of pixels is a two-dimensional matrix.

Embodiment 105: A method according to any one of embodiments 75 to 104, wherein the matrix of pixels is a rectangular matrix.

Embodiment 106: A method according to any one of embodiments 75 to 105, wherein the detector comprises a plurality of optical sensors.

Embodiment 107: A method according to embodiment 106, wherein the optical sensors are stacked along the optical axis of the detector.

Embodiment 108: The detector comprises n optical sensors, for each optical sensor the number of pixels illuminated by the light beam N _i is determined, i∈ {1, n} denotes each optical sensor, 108. The method according to embodiment 106 or 107.

Embodiment 109: for each optical sensor, by comparison with at least one adjacent optical sensors the number N _i of pixels illuminated by light, eliminating the ambiguity in the longitudinal coordinates of the object, embodiments 106-108 The method as described in any one of these.

Embodiment 110: The method according to any one of embodiments 106-109, wherein the sensor signal of the optical sensor is normalized with respect to the power of the light beam.

Embodiment 111: Use of the detector according to any one of embodiments 1 to 63, for location measurement in traffic technology, entertainment application, security application, safety application, man-machine interface application, tracking application, photography Use for a purpose of use selected from the group consisting of: use, in combination with at least one time-of-flight detector.

  Further details and features of the invention are apparent from the description of the preferred exemplary embodiments described below in conjunction with the dependent claims. In this background, these specific features may be implemented singly or in combination. The invention is not limited to these exemplary embodiments. In the figure, these exemplary embodiments are shown schematically. The same reference numerals in the individual drawings denote the same elements, elements having the same function, or elements corresponding to each other with respect to the function.

FIG. 2 illustrates an exemplary embodiment of a detector, detection system, man-machine interface, entertainment device, and tracking system according to the present invention. FIG. 2 shows an exemplary embodiment of a detector according to the present invention. FIG. 2B illustrates an exemplary embodiment for determining the number N of pixels of the optical sensor of the detector according to FIG. 2A. It is the figure which showed the typical propagation characteristic of a Gaussian beam. It is the figure which showed the typical propagation characteristic of a Gaussian beam. It is the figure which showed the spectral sensitivity of three optical sensor apparatuses. It is the figure which showed the optical sensor which can be used in the detector which concerns on this invention. It is the figure which showed the optical sensor which can be used in the detector which concerns on this invention. It is the figure which showed the optical sensor which can be used in the detector which concerns on this invention. FIG. 6 illustrates another embodiment of detector, camera, and object positioning. It is the figure which showed one Embodiment of the detector used as a light irradiation field camera. It is the figure which showed one example structure of mounting of the time-of-flight type detector with respect to the said detector. FIG. 6 illustrates an exemplary embodiment for determining an intensity distribution function of an intensity distribution of pixels in a matrix. FIG. 6 illustrates an exemplary embodiment for determining an intensity distribution function of an intensity distribution of pixels in a matrix. FIG. 6 illustrates an exemplary embodiment for determining an intensity distribution function of an intensity distribution of pixels in a matrix. FIG. 6 illustrates an exemplary embodiment for determining an intensity distribution function of an intensity distribution of pixels in a matrix. FIG. 6 illustrates an exemplary embodiment for determining an intensity distribution function of an intensity distribution of pixels in a matrix. FIG. 6 illustrates an exemplary embodiment for determining an intensity distribution function of an intensity distribution of pixels in a matrix.

  FIG. 1 is a very schematic diagram illustrating an exemplary embodiment of a detector 110 having a plurality of optical sensors 112. Specifically, the detector 110 may be embodied as the camera 111 or may be a part of the camera 111. The camera 111 may be configured for imaging, specifically 3D imaging, and may be configured to acquire an image sequence such as a still image and / or a digital video clip. Other embodiments are also possible. FIG. 1 further illustrates one embodiment of a detection system 114, in addition to the at least one detector 110 described above, and in this exemplary embodiment, attachment to an object 118 that uses the detector 110 to detect position and One or more beacon devices 116 // included are provided. FIG. 1 further illustrates an exemplary embodiment of a man-machine interface 120 that includes the at least one detection system 114 and further includes an entertainment device 122 that includes the man-machine interface 120. This figure further illustrates one embodiment of a tracking system 124 that tracks the position of the object 118 and includes a detection system 114. These apparatus and system components will be described in more detail below.

  The detector 110 includes at least one evaluation device 126 in addition to the one or more optical sensors 112. The evaluation device 126 may be connected to the optical sensor 112 by one or more connectors 128 and / or one or more interfaces. In addition, the connector 128 may include one or more drivers and / or one or more measurement devices for generating sensor signals, as described below with respect to FIGS. 2A and 2B. Further, the evaluation device 126 may be wholly or partly incorporated into the optical sensor 112 and / or the housing 130 of the detector 110 instead of using the at least one optional connector 128. As an addition or alternative, the evaluation device 126 may be designed in whole or in part as a separate device.

  In this exemplary embodiment, the position-detectable object 118 can be designed as a sports equipment and / or a control element 132 that allows the user 134 to manipulate the position. As an example, the object 118 may be a bat, racket, club, or any other sports equipment and / or simulated sports equipment, and may include such sports equipment. Other types of objects 118 are also possible. Further, the user 134 can be considered as the object 118 for detecting the position.

  As outlined above, the detector 110 includes a plurality of optical sensors 112. The optical sensor 112 may be disposed inside the housing 130 of the detector 110. Furthermore, at least one transmission device 136 may be provided, such as one or more optical systems, preferably with one or more lenses 138. The viewing direction 144 of the detector 110 is preferably defined by the opening 140 of the housing 130 that is preferably arranged concentrically with the optical axis 142 of the detector 110. Further, a coordinate system 146 may be defined in which a direction parallel or antiparallel to the optical axis 142 is defined as a vertical direction, while a direction perpendicular to the optical axis 142 is defined as a horizontal direction. In the coordinate system 146, as indicated by symbols in FIG. 1, the vertical direction is represented by z, and the horizontal direction is represented by x and y. Other types of coordinate systems 146 are also possible.

  The detector 110 may include one or more of the optical sensors 112. As shown in FIG. 1, a plurality of optical sensors 112 are preferably provided, and it is more preferable that these are stacked along the optical axis 142 to form a sensor stack 148. It should be noted that although the embodiment of FIG. 1 shows five optical sensors 112, embodiments with different numbers of optical sensors 112 are possible.

  Other optical sensors 112, except optical sensor 112 or at least optical sensor 112 that does not face object 118, have at least one light beam 150 traveling from one or more of object 118 and / or beacon device 116 to detector 110. It is preferable that the light beam 150 is transparent so as to sequentially pass through the optical sensor 112.

  The detector 110 is configured to determine the position of the at least one object 118. Thus, each of the optical sensors 112 includes a matrix 152 of pixels 154, as described with respect to FIG. 2A and one exemplary embodiment of the optical sensors 112 shown therein. The detector 110, specifically the evaluation device 126, is configured to determine the intensity distribution of the pixels 154 of the at least one optical sensor 112 irradiated by the light beam 150. As an example, the intensity distribution may be a distribution of intensity values acquired by the pixels 154 during irradiation with the light beam 150 or a numerical value distribution derived therefrom.

  In this exemplary embodiment, matrix 152 is a rectangular matrix, with pixels 154 arranged in x-dimensional rows and y-dimensional columns, as symbolized by coordinate system 146 of FIG. 2A. The plane of the matrix 152 may be perpendicular to the optical axis 142 of the detector 110 and thus may be perpendicular to the longitudinal coordinate z. However, other embodiments are possible, such as an embodiment having a non-planar optical sensor 112 and / or an embodiment having a non-rectangular matrix of pixels 154.

  The detector 110 is configured to determine the position of the object 118, and the optical sensor 112 emits a light beam 150 that travels from the object 118, specifically one or more of the beacon devices 116, to the detector 110. Configured to detect. For this reason, the evaluation device 126 is configured to determine at least one longitudinal coordinate of the object 118 using the intensity distribution of the pixel 154, as outlined in more detail below.

  The light beam 150 forms a light spot 156 on the optical sensor 112 or the sensor surface 158 of each optical sensor 112 after modification by a transmission device 136 such as direct and / or focusing by a lens 138. Each of the pixels 154 may be configured to generate an individual signal, also referred to as an intensity value, as a sensor signal or pixel signal that represents the irradiation intensity of each pixel. The substance or the whole of the sensor signal of the pixel 154 or the value derived therefrom can be regarded as the intensity distribution of the pixel.

  Thus, as an example, FIG. 2A shows a multiplexed measurement scheme that can be used to generate sensor signals for each pixel 154. Thus, each column of the matrix 152 may be connected to each current measuring device 160. In addition, a switch 162 that contacts each row of the matrix 152 may be provided. In this way, a multiplexed measurement method in which the rows of the matrix 152 are sequentially contacted may be realized. Therefore, in the first step, the uppermost row of the matrix 152 may be contacted by the switch 162 so that the measurement current flows through each of the uppermost row pixels of the matrix 152. This current can be converted to digital form, such as by providing it in analog form and / or providing one or more analog-to-digital converters. Thereby, a measurement value of each pixel in the uppermost pixel row of the matrix 152 may be generated by providing a 4-bit grayscale value, an 8-bit grayscale value, or other information format. Each information value representing the sensor signal of the pixel 154 may be provided to an evaluation device 126 that may comprise one or more volatile and / or non-volatile data memories 164. After that, by switching the switch 162 to contact the second row of the matrix 152, the sensor signal of each bit of the second row is generated, and then the sensor value of the subsequent row is generated. When the entire measurement of the entire matrix 152 is completed, the routine may be newly started, such as re-contact with the first row of the matrix 152. In this way, the sensor signal of each pixel 154 may be generated by using this multiplexing method or another multiplexing method. Since this multiplexing may be performed at a high repetition rate, it is considered that the intensity of the light beam 150 and the position of the light spot 156 do not change significantly in one multiplexing cycle. However, specifically, in the case of the object 118 moving at high speed, other methods for generating sensor values, such as a measurement method for simultaneously generating sensor values for the pixels 154 of the matrix 152, may be used.

  As outlined above, the matrix 152 preferably includes at least 10 pixel rows and at least 10 pixel columns. Thereby, as an example, at least 20 pixel rows and at least 20 pixel columns, preferably at least 50 pixel rows and 50 pixel columns, more preferably at least 100 pixel rows and 100 pixels. There may be columns. Therefore, specifically, a standard format such as VGA and / or SVGA may be used.

The position of the object 118 may be determined using a sensor signal provided by the pixel 154. Therefore, first, as outlined in FIG. 2A, one or more pixels with the highest intensity of illumination by the light beam 150 may be determined by comparing the sensor signals of the pixels 154. Further, the coordinates x _max and y _max representing the lateral coordinates of the light spot 156 may be determined by using the center of irradiation such as the center of the light spot 156. By using a known imaging equation, such as a well-known lens equation, the lateral coordinates of the object 118 and / or each beacon device 116 emitting the light ray 150 in the coordinate system 146 are determined from the coordinates x _max , y _max. You may come to be. In this way, by determining the lateral position of the light spot 156 on the sensor surface 158 of the optical sensor 112, the lateral position of the object 118 and / or a portion of the object 118 may be determined. Good.

  Further, as described above and in more detail below, detector 110 may be configured to determine the longitudinal coordinates of object 118 and / or at least one beacon device 116 by using an intensity distribution. Good. For this reason, various algorithms described in more detail below as an example may be used. Thus, in general, the evaluation device 126 may be configured to determine the longitudinal coordinates of the object 118 by using a predetermined relationship between the intensity distribution and the longitudinal coordinates. Specifically, the evaluation device 126 may be configured to determine at least one intensity distribution function approximating the intensity distribution. Accordingly, the evaluation device 126 determines the longitudinal coordinates of the object 118 by using a predetermined relationship between the longitudinal coordinates and the intensity distribution function and / or at least one parameter derived from the intensity distribution function. It may be configured as follows. As an example, the intensity distribution function may be a beam shape function of light ray 150, as described below with respect to FIGS. Specifically, the intensity distribution function may include a two-dimensional or three-dimensional mathematical function that approximates the intensity information included in at least a part of the pixel 154 of the optical sensor 112.

  In addition or as an alternative, as outlined below with respect to FIGS. 2A and 2B, the evaluation device 126 may be configured to determine an intensity distribution, the determination of the intensity distribution being illuminated by the light beam 150. Including determination of the number N of pixels of the optical sensor 112. The determination of at least one longitudinal coordinate of the object 118 includes the number N of pixels illuminated by the light beam 150, such as the use of a predetermined relationship between the number N of pixels illuminated by the light beam 150 and the longitudinal coordinate. May include use. These options can be combined in various ways.

  Specifically, in order to determine the longitudinal coordinate, the diameter and / or equivalent diameter of the light spot 156 may be evaluated as described below. The diameter and / or equivalent diameter may be determined in various ways, such as using the method described above to determine the intensity distribution function and / or the method described above to determine the number N of pixels of the optical sensor 112 illuminated by the light beam 150. It may come to be. A combination of both options is also possible.

As outlined above, by way of example, the evaluation device 126 may be configured to determine the number N of pixels 152 illuminated by the light beam 150. For this reason, a threshold method may be used in which the sensor signal of each pixel 154 is compared with one or more threshold values for determining whether or not each pixel 154 has been irradiated. The boundary line 166 of the light spot 156 may be determined by the one or more threshold values as shown in FIG. 2A. As an example, assuming Gaussian illumination with a typical Gaussian intensity profile, the boundary 166 has a central intensity I ₀ to 1 / e where the intensity of the light spot 156 is the intensity at the pixel coordinates x _max , y _max. It may be selected as a line lowered to ² · I ₀ .

As an example, the threshold method can be easily performed by using histogram analysis of sensor values of one image (such as one scan of a multiplexing method and / or one image of pixels acquired at the same time) as indicated by a symbol in FIG. 2B. Is feasible. It should be noted that the histogram analysis of FIG. 2B does not fully correspond to the image shown in FIG. 2A. In FIG. 2B, the sensor signal of pixel 154 obtained in one image is “I” (in spite of the fact that sensor signals other than current, such as bit values or gray scale values, can also be used). Shown above. On the vertical axis, the number of each sensor signal, that is, the number of pixels 154 that provide each sensor signal I is shown as “#”. Thereby, as an example, the gray scale value may be indicated on the horizontal axis, and the number of pixels indicating each gray scale value in one image may be indicated on the vertical axis. The highest sensor signal in this image is displayed as _I0 . A suitable threshold 1 / e ² · I ₀ (and / or the first integer value greater than 1 / e ² · I ₀ and / or the first integer value less than 1 / e ² · I ₀ , etc.) By giving an integer value (the present invention includes these options), the number of pixels in this histogram analysis is the number of non-irradiated pixels 154 (FIG. 2B), as symbolically shown in FIG. 2B. 2B and indicated by a white bar), that is, the sensor signal of the pixel 154 outside the boundary line 166 in FIG. 2A, and the number of irradiated pixels (indicated by 170 in FIG. 2B and indicated by a black bar), It may be divided into the number of pixels 154 in the boundary line 166. Therefore, by using this threshold method and / or other threshold methods, the irradiation pixel and the non-irradiation pixel may be discriminated by using an appropriate histogram analysis or the like.

  By distinguishing between irradiated pixels and non-irradiated pixels, the number N of pixels 154 irradiated with the light beam 150 can be counted. Therefore, the number N of irradiation pixels is obtained by integration of the irradiation pixels 170 and the respective numbers in FIG. 2B. In addition to or as an alternative, other methods for determining the number N of illuminated pixels may be used.

  In the case of the above equation (4) or the plurality of optical sensors 112, the number N of irradiated pixels is proportional to the area of the light spot 156, as shown in equation (4 '). Thus, since any type of light beam 150 changes in diameter as it propagates, one or more beacon devices that emit an object 118, specifically each light beam 150, by evaluating the number N of illuminated pixels. 116 longitudinal coordinates may be determined. As an example, equation (6) and / or (6 ') may be used by assuming a Gaussian characteristic of ray 150. As an example, the light beam 150 itself may have a Gaussian characteristic. As an addition or alternative, the at least one transmission device 136 with the at least one optional lens 138 may be used for beam shaping, again in this case the object 118, specifically Spatial information regarding the vertical position of each beacon device 116 is included in the propagation characteristics of the shaped light beam 150.

  When the viewing angle of the detector 110 is narrow, the distance between the object 118 and the detector 110 is considered to be a z-dimensional distance only. However, since the lateral coordinates x and / or y may be additionally determined by using the matrix 152 and, for example, the above algorithm, the total travel distance of the light ray 150 is It can be easily calculated taking into account the beacon device 116 offset. Specifically, in the case of an object arranged off-axis, the following description regarding FIG. 5 can be referred to.

  As outlined above, a plurality of optical sensors 112 are preferably provided, such as by providing sensor stack 148. The redundancy of the optical sensor 112 can be used in various ways.

  Therefore, as described above, the beam waist may be determined by determining the number N of irradiation pixels of one of the optical sensors 112. However, as readily derived from one or more of equations (3), (6), or (6 ') above, the longitudinal coordinate z derived therefrom is ambiguous with respect to focus. Therefore, when only one beam waist and / or one irradiation pixel number N is determined, there is a case where uncertainty is generated as to whether each image is acquired at a specific distance z before or after the focus of the Gaussian ray 150. is there. This ambiguity can be resolved in various ways. Accordingly, the movement of the detector 110 and / or the object 118 may first be tracked, such as by using a series of images and / or the tracking controller 172 of the tracking system 124. As a result, the movement history of the object 118 is tracked, and by providing additional spatial information of the object 118, it is possible to determine whether each optical sensor 112 is positioned before or after the focal point of the light beam 150. Also good. However, as an addition or alternative, this ordinate ambiguity will be resolved using the information redundancy provided by the optical sensor stack 148, as described below with respect to FIGS. 3A and 3B. It may be. Thus, FIG. 3A shows a side view of a simple beam path of a ray 150 traveling from one or more of the beacon devices 116 to the detector 110. As can be seen, due to the Gaussian beam propagation characteristics, the light ray 150 in the sensor stack 148 narrows towards a focal point 174 near the central optical sensor 112 in this exemplary embodiment. Other embodiments of the beam path are also feasible. FIG. 3B shows each light spot 156 of the sensor surface 158 of the optical sensor and each of the optical sensors 112 configured as in FIG. 3A. The optical sensors 112 are assigned numbers 1 to 5 as shown in FIG. 3A. As can be seen, the light spot 156 of the central optical sensor 112 near the focal point 174 is the smallest. On the other hand, the diameter of the light spot 156 is widened on the right side and the left side of the central sensor (sensor number 3). As can be seen by comparing optical sensors 1 and 5 or optical sensors 2 and 4, the diameter of light spot 156 is ambiguous. However, by comparing a specific diameter with the diameter of the light spot of the adjacent optical sensor, it is determined whether the light beam is expanding or narrowing, that is, whether each optical sensor 112 is positioned before or after the focal point 174. Is possible. In this way, the above ambiguity is resolved, and the z coordinate may be determined in the coordinate system 146 and / or another coordinate system or the like.

  As outlined above, the optical sensor 112 of the sensor stack 148 is preferably transparent to the light beam 150. The last optical sensor 112 in the sensor stack 148 that does not face the object 118, such as the optical sensor 112 named “5” in FIG. 3A, does not necessarily have to be transparent. Thus, this last optical sensor 112 may be opaque.

  As described in detail above, providing a plurality of optical sensors 112 in a stack or the like may be for other purposes, in addition or as an alternative. Accordingly, the optical sensor 112 may provide at least one information regarding the color of the light beam 150 by providing different spectral sensitivities. Therefore, in FIG. 3C, the extinction coefficient is shown as a function of the wavelength λ for three of the optical sensors 112. These extinction coefficients or other arbitrary measures indicating the absorption spectrum of each optical sensor 112 may be adjusted by providing an appropriate absorbing material such as an appropriate dye in the optical sensor 112. As an example, when the optical sensor 112 includes a dye-sensitized solar cell (DSC, specifically, sDSC), an appropriate dye may be selected. As an example, FIG. 3C shows different spectral sensitivities (normalized sensitivity, etc.) ε of optical sensors 1, 2, and 3 as a function of wavelength λ as an example. Each optical sensor 112 with different absorption characteristics due to the assumption that the total power of the light beam remains the same for all light spots 156 on the sensor surface 158 or because of the known attenuation of the light beam 150 after passing through a particular optical sensor 112. The color of the light beam 150 may be determined using the ratio of the sensor signals. As an example, the total sensor signal may be determined by adding the sensor signals of the pixels 154 for each of the optical sensors 112. Alternatively, a representative sensor signal of each optical sensor 112 such as a peak value or a maximum value of the sensor signal may be determined. Alternatively, representative sensor signals of the respective optical sensors 112 may be generated by integrating sensor signals of the pixels 154 in the light spot 156. In the exemplary embodiment shown in FIG. 3C, the sensor signal of the third optical sensor (sensor number 3) is divided by the sum of the sensor signals of optical sensors 1, 2, and 3, for example, the green color of light ray 150. Information about the component may be determined. Similarly, the yellow component of the light beam 150 may be determined by dividing the sensor signal of the first optical sensor by the sum of the sensor signals of the optical sensors 1, 2, and 3. Similarly, the red component of the light beam 150 may be determined by dividing the sensor signal of the second optical sensor 112 by the sum of the sensor signals of the optical sensors 1, 2, and 3. . Other embodiments and / or algorithms for determining colors are also possible. Thereby, as an example, the CIE coordinates of the light beam 150 may be directly determined by the absorption spectra of three of the optical sensors 112 being similar to the absorbing material used as the basis of the CIE coordinate system described above. . Note that the determination of the color of light ray 150 is independent of the above determination of the longitudinal coordinates of object 118. This is because the algorithm described above is based solely on the number of irradiated pixels and non-irradiated pixels regardless of the color of the light ray 150. Thus, for example, in the threshold method and histogram analysis described above with respect to FIGS. 2A and 2B, internal normalization of light intensity and / or light color may be performed. As outlined above, this threshold may be selected as a function and / or percentage of maximum intensity and / or maximum sensor signal. For this reason, the determination of the vertical coordinate using the number of pixels described above is irrelevant to the fact that each optical sensor 112 in the sensor stack 148 may have different spectral absorption characteristics.

  As outlined above, determining the position of the object 118 and / or a portion thereof using the detector 110 may provide the man machine interface 120 to provide at least one piece of information to the machine 176. . In the embodiment schematically illustrated in FIG. 1, the machine 176 can be a computer and / or include a computer. Other embodiments are also possible. Further, the evaluation device 126 may be wholly or partly incorporated in a machine 176 such as a computer. The same applies to the tracking controller 172, all or part of which may form part of the machine 176 computer.

  Similarly, as outlined above, the man-machine interface 120 may form part of the entertainment device 122. Also, the machine 176, specifically the computer, may form part of the entertainment device 122. Accordingly, by the user 134 acting as the object 118 and / or the user 134 handling the control device 132 acting as the object 118, the user 134 inputs at least one information, such as at least one control command, to the computer. Thus, entertainment functions such as control of the outcome of a computer game may be changed.

  As outlined above, the one optical sensor 112 and / or one or more of the optical sensors 112 may preferably be wholly or partially transparent to the light beam 150. 4A-4C variously illustrate an exemplary configuration of the transparent optical sensor 112. Here, FIG. 4A is a top view, FIG. 4B is a cross-sectional view along line AA in FIG. 4A, and FIG. 4C is a cross-sectional view along line BB in FIG. 4A.

  The optical sensor 112 may include a transparent substrate 178 such as a glass substrate and / or a plastic substrate. For possible details of the substrate 178, see literature, WO2012 / 110924A1, US provisional patent application 61 / 739,173 and US provisional patent application 61 / 749,964. Is possible. However, other embodiments are possible. The light beam 150 can be irradiated through the substrate 178 and / or from the opposite side. Therefore, the bottom surface of the substrate 178 in FIG. 4B may constitute the sensor surface 158. Alternatively, irradiation may be performed from the opposite surface.

  A first electrode 180 is deposited on the substrate 178, and a plurality of first electrode stripes 182 may be provided in this embodiment. The first electrode 180 is preferably wholly or partially transparent. Thus, as an example, the first electrode 180 may be entirely or partially made of a transparent conductive oxide such as fluorine-doped tin oxide (FTO) and / or indium-doped tin oxide (ITO). . For further details of the first electrode 180, see WO 2012 / 110924A1 and / or US Provisional Patent Application 61 / 739,173 and / or US Provisional Patent Application 61 / 749,964. Reference may be made to one or more of the specification. However, other embodiments are possible. Also, the first electrode stripe 182 may be patterned by an appropriate patterning technique generally known to those skilled in the display arts, such as etching and / or lithography techniques. Good. Thus, as an example, a large area coating with the material of the first electrode 180 may be applied to the substrate 178 as known to those skilled in the art of display manufacturing, such as LCD manufacturing, The area of one electrode stripe 182 may be covered with a photoresist, and the uncovered area may be etched by a suitable etching means.

Deposited on the first electrode 180 is one or more photosensitive layers 184, such as a photosensitive layer configuration including one, two, three or more layers. As an example, the photosensitive layer 184 can be formed from WO 2012/110924 A1 and / or US provisional patent application 61 / 739,173 and / or US provisional patent application 61 / 749,964. A layer structure of a dye-sensitized solar cell (DSC) as disclosed in one or more of them, more specifically, a solid dye-sensitized solar cell (sDSC) may be provided. Thus, the photosensitive layer 184 comprises one or more layers of an n-semiconductor metal oxide such as TiO ₂ , preferably nanoporous metal oxide, which can be deposited directly or indirectly on the first electrode 180. It may be. In addition, the n-semiconductor metal oxide may contain one or more organic dyes, preferably WO 2012/110924 A1 and / or US Provisional Patent Application 61 / 739,173 and / or US Provisional Patent. One or more dyes, such as one or more of the dyes disclosed in one or more of the applications 61 / 749,964, may be sensitized in whole or in part. Other embodiments are also possible.

  One or more layers of p-semiconductor and / or conductive material may be deposited on the dye-sensitized n-semiconductor metal oxide. Accordingly, one or more solid p semiconductor organic materials that can be deposited directly or indirectly on the n semiconductor metal oxide may be used. As an example, one of W02012 / 110924A1 and / or U.S. provisional patent application 61 / 739,173 and / or U.S. provisional patent application 61 / 749,964. Alternatively, reference may be made to one or more of the p semiconductor materials as disclosed in the plurality. As a suitable example, spiro MeOTAD may be used.

  It should be noted that the photosensitive layer 184, which may preferably include one or more organic photosensitive layers 184, may be provided in another layer configuration. Therefore, basically, any type of photosensitive material configured to give an electric signal in response to irradiation of the layer structure, such as an organic, inorganic, or hybrid layer structure, may be used.

  Specifically, as can be seen from the top view of FIG. 4A, the one or more photosensitive layers 184 have one or more contact areas 186 that contact the first electrode stripes 182 covered by the photosensitive layer 184. It is preferable that it is patterned so that there is no occurrence. This patterning can be performed in various ways. Accordingly, the contact area 186 may be exposed by laser ablation and / or mechanical ablation after applying a large area coating of the photosensitive layer 184. However, as an addition or alternative to this, the one or more photosensitive layers 184 may be applied to the configuration with all or a part thereof being patterned by using an appropriate printing technique or the like. Combinations of the above techniques are also possible.

  On the at least one photosensitive layer 184, at least one second electrode 188 may be deposited. The at least one second electrode 188 may also preferably include a plurality of electrode stripes, and is denoted by reference numeral 190 (second electrode stripe) in the present embodiment. Specifically, as can be seen from the top view of FIG. 4A, the second electrode stripe 190 has an angle of 90 ° ± 20 °, preferably 90 ° ± 10 °, more preferably 90 ° ± 5 °, etc. Preferably, it is oriented essentially perpendicular to the electrode stripes 182. However, it should be noted that the first electrode 180 and the second electrode 188 can have other electrode shapes.

  As can be seen from the top view of FIG. 4A, each second electrode stripe 190 includes at least one contact area 192 that allows electrical contact of the second electrode stripe 190.

  As can be further seen from the top view of FIG. 4A, the layer configuration of the optical sensor 112 provides a plurality of areas where the second electrode stripe 190 intersects the first electrode stripe 182. Each of these areas may itself constitute a separate optical sensor, also referred to as a pixel 154, which is electrically connected by electrical contact with the appropriate contact areas 186, 192 of each electrode stripe 182, 190. Touchable. Therefore, as described above, each of the pixels 154 may provide an individual optical signal by measuring the current flowing through these individual optical sensors. In the present embodiment, the pixels 154 may be arranged in a rectangular configuration to form the rectangular matrix 152. However, it should be noted that other configurations such as a non-rectangular matrix configuration are possible. Thereby, as an example, a honeycomb structure or other geometric configuration can be realized.

  In addition to the layer configuration shown in FIGS. 4A-4C, the optical sensor 112 may include one or more encapsulation layers and / or one or more cover elements such as a glass lid and / or a plastic lid. The enveloping element may be provided. For example, the latter may be adapted to be applied, for example, on the layer configuration shown in FIGS. 4B and 4C, preferably with the contact areas 186, 192 open.

  The second electrode stripe 190 may comprise one or more metal layers, such as one or more layers of metal, preferably selected from the group consisting of Al, Ag, Au, Pt, Cu. As an addition or alternative, a combination of two or more metals, such as a metal alloy, may be used. As an example, one or more metal alloys selected from the group consisting of NiCr, AlNiCr, MoNb, and AlNd may be used. Furthermore, other embodiments are possible. Preferably, all or part of the second electrode stripe 190 may be transparent with respect to the first electrode stripe 182. This transparency can be realized in various ways. Thereby, as an example, a thin metal layer such as a metal layer having a thickness of less than 50 nm, such as a thickness of 30 nm or less or 20 nm or less, may be used. At such layer thickness, common metals are still transparent. However, as an addition or alternative, a non-metallic conductive material such as a conductive polymer may be used. As an example, PEDOT: PSS and / or PANI may be used. Other possible details of the construction of the second electrode 188 are described above in WO 2012 / 110924A1, US provisional patent application 61 / 739,173, and / or US provisional patent application. No. 61 / 749,964 can be referred to.

  The second electrode stripe 190 may be applied to the layer configuration using a normal application technique. Thus, as an example, one or more metal layers may be deposited using physical vapor deposition (evaporation and / or sputtering, etc.). Non-metallic conductive materials such as conductive polymers may be applied using conventional coating techniques such as spin coating and / or printing. Other techniques are also feasible. The patterning of the second electrode stripe 190 can be performed in various ways. Therefore, when using the vapor deposition technique and / or the vacuum vapor deposition technique, a mask technique such as vapor deposition through a shadow mask may be used. As an addition or alternative to this, printing by patterning may be executed. Thus, as an example, screen printing and / or ink jet printing may be used to pattern the conductive polymer. In addition or as an alternative, one or more separation patterns, such as a photoresist pattern that subdivides the second electrode 188 into second electrode stripes 190, are provided on the layer configuration and / or the substrate 178. Also good.

  Further, it should be noted that the layer configuration of the first electrode 180, the one or more photosensitive layers 184, and the second electrode 188 can be reversed. Thereby, as an example, the layer configuration of DSC, specifically, sDSC may be reversed compared to the above-described layer configuration. Further, as an addition or alternative, the configuration of the electrodes 180, 188 is reversed, a second electrode 188 is provided on the substrate 178, and the one or more photosensitive layers 184 are directly or indirectly provided. The first electrode 180 may be provided on the second electrode, and the first electrode 180 may be provided on the at least one photosensitive layer 184. Various modifications of the configuration can also be realized. It should further be noted that one or more of the electrodes 180, 188 can be opaque. Therefore, as described above, the detector 110 having only one optical sensor 112 can be realized. In this case, the optical sensor 112 does not necessarily need to be transparent. Thus, as an example, when light is transmitted through the sensor surface 158 to the optical sensor 112, the second electrode 188 may be opaque, such as by using a thick metal layer. When light is transmitted to the optical sensor 112 from the other surface, the first electrode 180 may be an opaque electrode. Further, when the sensor stack 148 is used as in the configuration of FIG. 1, for example, the last optical sensor 112 of the sensor stack 148 that does not face the object 118 does not necessarily have to be transparent. Thus, the opaque optical sensor 112 may be used.

  FIG. 5 shows, in addition to the above description with respect to FIGS. 2A-3B, another embodiment of detector 110 and camera 111 as a partial perspective view, which will be used hereinafter to emit at least light ray 150. One embodiment for determining the position of one object 118 (not shown in this figure) is further described. Detector 110 and / or camera 111 may be part of detection system 114, man-machine interface 120, entertainment device 122, or tracking system 124, and includes additional components not shown in FIG. May be. Thereby, as an example, the evaluation apparatus 126 is not illustrated. For possible embodiments and / or further details of the evaluation device 126, reference may be made to the above embodiments.

  As can be seen from the figure, also in this embodiment, the detector 110 includes a plurality of optical sensors 112, and in this case as well, it is arranged as a sensor stack 148. For possible embodiments of the optical sensor 112 and sensor stack 148, reference may be made to the embodiments disclosed above.

  The sensor stack 148 includes at least two optical sensors 112, and in the present embodiment, only two optical sensors 112 are shown, and one optical sensor 112 faces the object 118 (the last optical sensor 112 in FIG. 5). ) One optical sensor 112 does not face the object 118 (right optical sensor 112). At least one of the optical sensors 112 is at least partially with respect to the light beam 150 such that at least a portion of the light beam 150 is unattenuated or attenuated and passes through the optical sensor 112 with a spectral characteristic unchanged or modified. It is preferably transparent. For this reason, in FIG. 5, all or part of the left optical sensor 112 is transparent, while the right optical sensor 112 may be opaque or transparent.

  The light beam 150 may be adapted to propagate in the propagation direction 194 along a propagation axis 196 that may be preferably parallel or non-parallel to the z-axis orthogonal to the sensor surface 158 of the optical sensor 112.

  As described above with respect to FIGS. 2A and 2B and with respect to FIGS. 3A and 3B, the light spot 156 formed on the optical sensor 112 by the light beam 150 may be evaluated. Thus, as outlined above, for one or more of the light spots 156, the center 198 may be determined at least within the resolution boundary provided by the pixel 154. As an example, in FIG. 5, the optical sensor 112 includes a matrix 152 of pixels 154, each pixel having its row (denoted by the symbol of row identifiers A to I in FIG. 5) and its column (column identifiers 1 to 1 in FIG. 7). Other embodiments for identifying pixel coordinates such as the use of numbers as both row and column identifiers are possible. Thus, in the exemplary embodiment shown in FIG. 5, the center 198 of the light spot 156 of the left optical sensor 112 is distinguishable from that located between rows D and E and between columns 4 and 5. On the other hand, the center 198 of the light spot 156 of the right optical sensor 112 can be distinguished from those arranged in the row D and the column 6. Therefore, by connecting the center 198, the propagation axis 196 of the light ray 150 can be easily determined. As a result, the direction of the object 118 relative to the detector 110 can be determined. Thus, since the center 198 of the light spot 156 on the right optical sensor 112 is shifted to the right side (that is, the higher column number side), the object 118 is located on the right side off the center from the z axis. Can be determined.

Furthermore, as outlined above, the longitudinal coordinates of the object 118 may be determined by evaluating the beam waist w ₀ . Thereby, by way of example, the beam waist may depend on the longitudinal coordinates according to one or more of the above relationships, specifically a Gaussian relationship. As shown in FIG. 5, when the propagation direction 194 is not parallel to the optical axis or the z-coordinate, the longitudinal coordinate of the object 118 may be a coordinate along the propagation axis 196. For example, by comparing the coordinates of the center 198, the propagation axis 196 can be easily determined, and the angular relationship between the z axis and the propagation axis 196 is known, so that coordinate conversion can be easily performed. Can do. Therefore, in general, the position of the object 118 may be determined by evaluating the number of pixels of the one or more optical sensors 112. Furthermore, each of the optical sensors 112 can be used to generate an image of the object 118 and the longitudinal coordinates of the object 118 and / or one or more points of the object 118 are known, so An image can be generated.

  As outlined above, counting the number N of pixels of the optical sensor 112 illuminated by the light beam 150 is one option for evaluating the intensity distribution of the pixels 154. As an addition or alternative, the evaluation device 126 may be configured to determine at least one intensity distribution function approximating the intensity distribution, as described below with respect to FIGS. Accordingly, the evaluation device 126 determines the longitudinal coordinates of the object 118 by using a predetermined relationship between the longitudinal coordinates and the intensity distribution function and / or at least one parameter derived from the intensity distribution function. It may be configured as follows. As an example, the intensity distribution function may be a beam shape function of light ray 150, as described below with respect to FIGS. Specifically, the intensity distribution function may include a two-dimensional or three-dimensional mathematical function that approximates the intensity information included in at least a part of the pixel 154 of the optical sensor 112.

  FIGS. 8-13 illustrate exemplary embodiments for determining the intensity distribution function of the intensity distribution of the pixels 154 of the matrix 152. In these embodiments, as an example, a two-dimensional function is determined by using an appropriate fitting algorithm. Here, in FIGS. 8 to 13, the intensity distribution is given by showing the intensity value I (arbitrary unit) on the vertical axis as a function of the identifier p of each pixel on the horizontal axis. As an example, the pixel 154 along the line AA in FIG. 2A such as a line passing through the center of the light spot 156 may be shown and identified by the respective vertical coordinates p. Similarly, the evaluation may be performed for each of the optical sensors 112 in FIG. 3A and FIG. B, as indicated by the AA horizontal line in FIG. 3B.

  FIGS. 8-13 show an exemplary embodiment of the intensity distribution generated by a single optical sensor 112, showing the intensity of a series of pixels 154 in a bar shape. However, instead of evaluating the intensity distribution along the AA line, other types of evaluation such as a three-dimensional evaluation for evaluating all the pixels 154 of the matrix 152 can be realized by using a three-dimensional intensity distribution function. It is. Further, instead of evaluating a single optical sensor 112 or a single matrix 152 of a portion thereof, more than one optical sensor 112 may be evaluated, such as optical sensor 112 of sensor stack 148.

  As outlined above, in FIGS. 8 to 13, the intensity of the pixel 154 is shown in a bar shape. The evaluation device 126 may be configured to determine an intensity distribution function shown as a solid line in these figures. As outlined above, the determination of the intensity distribution function is performed by using one or more fitting algorithms, for example by fitting one or more predetermined fitting functions to the actual intensity distribution. It may be. As an example, as outlined above, bell-shaped function, Gaussian distribution function, Bessel function, Hermitian-Gaussian function, Laguerre-Gaussian function, Lorentz distribution function, binomial distribution function, Poisson distribution function, one of these functions Or use one or more mathematical functions, such as one or more mathematical functions selected from the group consisting of at least one derivative comprising a plurality, at least one linear combination, or at least one product. May be. Accordingly, one or more parameters of these fitting functions can be obtained by using a single mathematical function or a combination of two or more identical, similar or non-identical mathematical functions as a fitting function and fitting to the actual intensity distribution. The intensity distribution function may be generated by adapting the above.

  Thus, as an example, FIG. 8 is a developed Gaussian beam measured at 16 pixels. The fitting Gaussian function representing the intensity distribution function is plotted as a solid line. FIG. 9 shows that the evaluation can be performed even when two or more light beams 150 are present, and two or more light spots 156 are generated. Therefore, FIG. 9 is a development of two Gaussian beams measured at 16 pixels. In FIG. 9, fitting Gaussian functions representing two intensity distribution functions are plotted as solid lines.

  The intensity distribution may be further evaluated for the above-described case of counting irradiated pixels. Thus, one or more parameters may be determined from the fitting mathematical function. Therefore, as shown in the above equations (2) and (3), one or a plurality of beam waists w are determined from the fitting Gaussian function of FIG. 8 or the fitting Gaussian function of FIG. Also good. The beam waist may be used as a measure of the diameter or equivalent diameter of the light spot 156. In addition to or as an alternative, other parameters may be derived.

  Using one or more of the derived parameters, at least one longitudinal coordinate of the object 118 is determined as described above with respect to FIG. 2A, FIG. 2B, FIG. 3A-3C, or FIG. It may be. Thereby, as an example, the vertical coordinate of the object 118 may be determined by using the equation (3). Furthermore, as outlined above, the sensor stack 148 may be used. The evaluation shown in FIG. 8 or 9 or any other type of evaluation that determines the intensity distribution function is applicable to two or more or all of the optical sensors 112 of the sensor stack 148. Accordingly, as an example, the evaluation shown in FIG. 8 or FIG. 9 is performed for each optical sensor 112 in the stack, so that the beam diameter of each optical sensor 112 or a scale indicating the beam diameter is derived. Good. This may allow a three-dimensional image to be generated and evaluated, and may allow ambiguity to be resolved as outlined with respect to FIGS. 3A and 3B. Furthermore, in addition to the single color evaluation, the multicolor evaluation described with reference to FIG. 3C may be performed.

  FIGS. 10-13 illustrate exemplary embodiments that illustrate that the evaluation is not limited to Gaussian intensity distributions and Gaussian intensity distribution functions. Accordingly, FIG. 10 is a development of a square object measured with 16 pixels. Also in this case, the measurement pixel current indicating the intensity distribution is plotted in a bar shape. An intensity distribution function that fits the intensity distribution to give a beam shape function or a fitting edge shape function is shown as a solid line. In the present embodiment of FIG. 10, as an example, since the square object 118 imaged on the optical sensor 112 by the transmission device 136 is in focus, a sharp edge is generated. In FIGS. 11 to 13, since the object 118 is out of focus, a blurred edge is generated. Thus, FIG. 11 shows the intensity distribution of the square object 118 of FIG. 10 slightly out of focus. In FIG. 12, since the square object 118 is out of focus, the edges are blurred. In FIG. 13, since the square object 118 is further out of focus, the edge is further blurred and the entire intensity distribution is blurred. As an example, FIGS. 10-13 may be images generated by different optical sensors 112 of sensor stacks 148 with different distances from the focal plane. Alternatively or alternatively, the images of FIGS. 10-13 may be generated by changing the intensity distribution by moving the object 118 along the optical axis 142. Since the imaging characteristics of the transmission device 136 are generally well known and the beam propagation characteristics and imaging can be calculated by standard optical methods, the position of the object 118 or at least one longitudinal direction of the object 118 The coordinates may be determined by evaluating the intensity distribution function, as is the case for those skilled in the art, as in the case of using equation (3) above for Gaussian rays.

  FIG. 6 shows a schematic configuration of the detector 110 according to the present invention used as a light irradiation field camera. Basically, the configuration shown in FIG. 6 may correspond to the embodiment shown in FIG. 1 or any other embodiment shown herein. The detector 110 includes a sensor stack 148 of an optical sensor 112, which is also referred to as a pixelated sensor, and may be specifically transparent. As an example, a pixelated organic optical sensor such as an organic solar cell, specifically sDSC may be used. The detector 110 may also include at least one transmission device 136 such as at least one lens 138 or lens system configured to image the object 118. Further, in this or other embodiments, the detector 110 may include at least one imaging device 196 such as a CCD and / or CMOS imaging device.

  As outlined above, the detector 110 of the embodiment shown herein is suitable for operation as a light field camera. Accordingly, light rays 150 propagating from various objects 118 or beacon devices 116, designated A, B, and C in FIG. 6, are focused by transmission device 136 and are denoted by A ′, B ′, and C ′ in FIG. The corresponding image is shown. By using the stack 148 of the optical sensor 112, a three-dimensional image may be acquired. Therefore, specifically, when the optical sensor 112 is a FiP sensor, that is, a sensor whose sensor signal is determined by the photon density, the focal point of each ray 150 is determined by evaluating the sensor signal of the adjacent optical sensor 112. It may be. Thus, by evaluating the sensor signals of the stack 148, various beam parameters of the light beam 150, such as focus position, spread parameters, or other parameters, may be determined. Thus, by way of example, each ray 150 and / or one or more rays of interest 150 may be determined in terms of their respective beam parameters and are represented in a parameter display and / or a vector display. It may come to be. Thus, as the optical quality and characteristics of the transmission device 136 are generally known, one or more objects 118 are included as soon as the beam parameters of the light beam 150 are determined using the stack 148. The scene acquired by the optical detector 110 may be represented by a simple beam parameter set. For further details of the light field camera shown in FIG. 6, reference can be made to the above description of the various possibilities.

  Furthermore, as outlined above, the optical sensors 112 of the optical sensor stack 148 may have the same or different wavelength sensitivity. Therefore, the stack 148 may include, for example, two types of optical sensors 112 alternately in addition to the optional imaging device 196. Here, the stack 148 may be provided with the first type and the second type of optical sensors 112. Specifically, the first type and the second type of optical sensors 112 may be alternately arranged along the optical axis 142. The first type optical sensor 112 may have a first spectral sensitivity such as a first absorption spectrum such as a first absorption spectrum defined by the first dye, The optical sensor 112 may have a second spectral sensitivity such as a second absorption spectrum different from the first spectral sensitivity, such as a second absorption spectrum defined by the second dye. By evaluating the sensor signals of these two or more types of optical sensors 112, color information can be obtained. As described above, in addition to the derivable beam parameters, the two or more types of optical sensors 112 may be capable of deriving additional color information such as deriving a full-color three-dimensional image. Thereby, as an example, the color information may be derived by comparing the sensor signal of the optical sensor 112 of a different color with the value stored in the lookup table. Accordingly, the configuration of FIG. 6 may be embodied as a single color, full color, or multicolor light field camera.

  As outlined above, the detector 110 may further comprise one or more time-of-flight detectors. This possibility is illustrated in FIG. First, the detector 110 includes at least one component that includes the one or more pixelated optical sensors 112, such as a sensor stack 148. In the embodiment shown in FIG. 7, the at least one unit including the optical sensor 112 is shown as a camera 111. However, it should be noted that other embodiments are possible. For details of possible configurations of the camera 111, the above-described configuration can be referred to, such as the embodiment shown in FIG. 1 or another embodiment of the detector 110. Basically, any configuration of the detector 110 disclosed above can be used in the context of the embodiment shown in FIG.

  In addition, the detector 110 includes at least one time-of-flight (ToF) detector 198. As shown in FIG. 7, the ToF detector 198 may be connected to the evaluation device 126 of the detector 110, or a separate evaluation device may be provided. As outlined above, the ToF detector 198 determines the distance between the detector 110 and the object 118, ie the z coordinate along the optical axis 142, by emitting and receiving a pulse 200, as symbolically shown in FIG. It may be configured to.

  The at least one optional ToF detector 198 may be variously combined with the at least one detector having a pixelated optical sensor 112 such as a camera 111. Thus, by way of example and as shown in FIG. 7, the at least one camera 111 may be disposed in the first partial beam path 202 and the ToF detector 198 may be disposed in the second partial beam path. 204 may be arranged. Partial beam paths 202, 204 may be separated and / or coupled by at least one beam splitting element 206. As an example, the beam splitting element 206 may be a wavelength neutral beam splitting element 206 such as a translucent mirror. As an addition or alternative, different wavelengths may be separable due to wavelength dependence. As an alternative or addition to the configuration shown in FIG. 7, other configurations of the ToF detector 198 may be used. Therefore, the camera 111 and the ToF detector 198 may be arranged in a straight line due to the arrangement of the ToF detector 198 behind the camera 111 and the like. In this case, it is preferable that no opaque optical sensor is provided in the camera 111 and all the optical sensors 112 are at least partially transparent. As an alternative or addition, the ToF detector 198 may be arranged independently of the camera 111 and may be used without coupling different optical paths. Various configurations are possible.

  As outlined above, ToF detector 198 and camera 111 can be used to resolve ambiguity, expand the range of weather conditions in which optical detector 110 can be used, or extend the range of distances between object 118 and optical detector 110, etc. For various purposes, it may be combined for profit. For further details, reference may be made to the above description.

DESCRIPTION OF SYMBOLS 110 Detector 111 Camera 112 Optical sensor 114 Detection system 116 Beacon device 118 Object 120 Man-machine interface 122 Recreational device 124 Tracking system 126 Evaluation device 128 Connector 130 Housing 132 Control device 134 User 136 Transmission device 138 Lens 140 Aperture 142 Optical axis 144 Field of view Direction 146 Coordinate system 148 Sensor stack 150 Ray 152 Matrix 154 Pixel 156 Light spot 158 Sensor surface 160 Current measuring device 162 Switch 164 Data memory 166 Boundary line 168 Non-irradiated pixel 170 Irradiated pixel 172 Tracking controller 174 Focus 176 Machine 178 Substrate 180 Substrate 180 1 electrode 182 first electrode stripe 184 photosensitive layer 186 contact area 188 second electrode 1 90 Second electrode stripe 192 Contact area 194 Propagation direction 196 Propagation axis 198 Center 196 Imaging device 198 Time-of-flight detector 200 Pulse 202 First partial beam path 204 Second partial beam path 206 Beam splitting element

Claims (21)

A detector (110) for determining the position of at least one object (118), comprising:
At least one optical sensor (112) configured to detect light rays (150) traveling from the object (118) to the detector (110), and at least one matrix (152) of pixels (154); An optical sensor (112) comprising:
At least one evaluation device (126), configured to determine an intensity distribution of a pixel (154) of the optical sensor (112) illuminated by the light beam (150), and using the intensity distribution; An evaluation device (126) further configured to determine at least one longitudinal coordinate of the object (118);
A detector (110) comprising: The evaluation device (126) is configured to determine the longitudinal coordinates of the object (118) by using a predetermined relationship between the intensity distribution and the longitudinal coordinates;
The detector (110) of claim 1. The evaluation device (126) is configured to determine at least one intensity distribution function approximating the intensity distribution;
The detector (110) according to claim 1 or 2. The evaluation device (126) uses the predetermined relationship between the longitudinal coordinates and the intensity distribution function and / or at least one parameter derived from the intensity distribution function, thereby allowing the object (118) to Configured to determine longitudinal coordinates,
The detector (110) according to claim 3. The intensity distribution function is a beam shape function of the ray (150);
Detector (110) according to claim 3 or 4. The intensity distribution function includes a two-dimensional or three-dimensional mathematical function approximating intensity information included in at least a portion of the pixel (154) of the optical sensor (112);
Detector (110) according to any one of claims 3-5. The two-dimensional or three-dimensional mathematical function is a bell-shaped function, Gaussian distribution function, Bessel function, Hermitian-Gaussian function, Laguerre-Gaussian function, Lorentz distribution function, binomial distribution function, Poisson distribution function, Including at least one mathematical function selected from the group consisting of at least one derivative comprising one or more, at least one linear combination, or at least one product,
The detector (110) according to claim 6. Configured to determine an intensity distribution in a plurality of planes;
A detector (110) according to any one of the preceding claims. A plurality of optical sensors (112),
The detector (110) of claim 8. The evaluation device (126) is configured to determine the longitudinal coordinate of the object (118) by evaluating the change in the intensity distribution as a function of the longitudinal coordinate along the optical axis (142). Was
Detector (110) according to claim 8 or 9. The evaluation device (126) is configured to determine a plurality of intensity distribution functions each approximating the intensity distribution in one of the planes, and from the plurality of intensity distribution functions, the object (118) Further configured to derive the longitudinal coordinates;
The detector (110) according to any one of claims 8 to 10. Each of the intensity distribution functions is a beam shape function of the ray (150) in each plane.
The detector (110) of claim 11. The evaluator (126) is configured to derive at least one beam parameter from each intensity distribution function;
Detector (110) according to claim 11 or 12. The evaluator (126) determines the longitudinal coordinates of the object (118) by evaluating a change in the at least one beam parameter as a function of longitudinal coordinates along the optical axis (142). Configured to
The detector (110) of claim 13. A detection system (114) for determining the position of at least one object (118), comprising:
15. At least one detector (110) according to any one of claims 1 to 14, wherein the at least one detector (110) is configured to guide at least one light beam (150) to the detector (110). A beacon device (116), wherein the beacon device (116) is capable of at least one of attachment to the object (118), retention by the object (118), and incorporation into the object (118); Is,
Detection system (114). A man-machine interface (120) for exchanging at least one piece of information between a user (134) and a machine (176);
16. At least one detection system (114) according to claim 15, wherein the at least one beacon device (116) is attached directly or indirectly to the user (134) and held by the user (134). And the man-machine interface (120) is designed to determine at least one position of the user (134) by the detection system (114) and Designed to assign at least one piece of information to the location,
Man-machine interface (120). An entertainment device (122) that performs at least one entertainment function comprising:
17. At least one man-machine interface (120) according to claim 16, wherein the man-machine interface (120) is designed to allow a player to input at least one information and to change the entertainment function according to the information Designed to,
Entertainment device (122). A tracking system (124) for tracking the position of at least one movable object (118),
An at least one detection system (114) according to claim 15, further comprising at least one tracking controller (172), wherein the tracking controller (172) is a sequence of the object (118) at a particular point in time. Configured to track the location of the
Tracking system (124). A camera (111) for imaging at least one object (118),
A camera (111) comprising at least one detector (110) according to any one of the preceding claims. A method for determining the position of at least one object (118) comprising:
The method includes at least one detection step and at least one evaluation step;
In the at least one detection step, at least one light beam (150) traveling from the object (118) to a detector (110) is detected by at least one optical sensor (112) of the detector (110); The at least one optical sensor (112) comprises at least one matrix (152) of pixels (154);
In the at least one evaluation step, an intensity distribution of the pixel (154) of the optical sensor (112) irradiated by the light beam (150) is determined, and by using the intensity distribution, at least the object (118) is determined. One vertical coordinate is determined,
Method.   Use of a detector (110) according to any one of claims 1 to 14, comprising location measurement in traffic technology, entertainment application, security application, safety application, man-machine interface (120) application, tracking application, Use for a purpose selected from the group consisting of photography applications, use in combination with at least one time-of-flight detector (198).

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